code: def projection_from_Rt(rmat: Tensor, tvec: Tensor) -> Tensor:
      r"""Compute the projection matrix from Rotation and translation.
  
      .. warning::
          This API signature it is experimental and might suffer some changes in the future.
  
      Concatenates the batch of rotations and translations such that :math:`P = [R | t]`.
  
      Args:
         rmat: the rotation matrix with shape :math:`(*, 3, 3)`.
         tvec: the translation vector with shape :math:`(*, 3, 1)`.
  
      Returns:
         the projection matrix with shape :math:`(*, 3, 4)`.
      """
      if not (len(rmat.shape) >= 2 and rmat.shape[-2:] == (3, 3)):
          raise AssertionError(rmat.shape)
      if not (len(tvec.shape) >= 2 and tvec.shape[-2:] == (3, 1)):
          raise AssertionError(tvec.shape)
  
      return concatenate([rmat, tvec], -1)
  
imports: from __future__ import annotations
  from typing import Optional
  import torch
  import torch.nn.functional
  from kornia.core import Tensor, concatenate, ones, ones_like, stack, tan, tensor, zeros
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SHAPE
  from kornia.geometry.conversions import angle_to_rotation_matrix, axis_angle_to_rotation_matrix, convert_affinematrix_to_homography, convert_affinematrix_to_homography3d, deg2rad, normalize_homography, normalize_homography3d, normalize_pixel_coordinates
  from kornia.geometry.linalg import transform_points
  from kornia.utils import create_meshgrid, create_meshgrid3d, eye_like
  from kornia.utils.helpers import _torch_inverse_cast, _torch_solve_cast
label_desc: Use image node_id 17 for calling a global function with example usage: projection_from_Rt(rmat, tvec) and returns: concatenate