code: def worldtocam_to_camtoworld_Rt(
      R: Tensor, t: Tensor
  ) -> tuple[Tensor, Tensor]:
      r"""Converts worldtocam frame i.e. projection from world to the camera coordinate system (used in Colmap) to
      camtoworld, i.e. projection from camera coordinate system to world coordinate system.
  
      Args:
          R: Rotation matrix, :math:`(B, 3, 3).`
          t: Translation matrix :math:`(B, 3, 1)`.
  
      Returns:
          Rinv: Rotation matrix, :math:`(B, 3, 3).`
          tinv: Translation matrix :math:`(B, 3, 1)`.
  
      Example:
          >>> R, t = torch.eye(3)[None], torch.ones(3).reshape(1, 3, 1)
          >>> worldtocam_to_camtoworld_Rt(R, t)
          (tensor([[[1., 0., 0.],
                   [0., 1., 0.],
                   [0., 0., 1.]]]), tensor([[[-1.],
                   [-1.],
                   [-1.]]]))
      """
      KORNIA_CHECK_SHAPE(R, ["B", "3", "3"])
      KORNIA_CHECK_SHAPE(t, ["B", "3", "1"])
  
      R_inv = R.transpose(1, 2)
      new_t: Tensor = -R_inv @ t
  
      return (R_inv, new_t)
  
imports: from __future__ import annotations
  from typing import Optional
  import torch
  import torch.nn.functional
  from kornia.constants import pi
  from kornia.core import Tensor, concatenate, cos, pad, sin, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SHAPE
  from kornia.utils import deprecated
  from kornia.utils.helpers import _torch_inverse_cast
label_desc: Use image node_id 44 for calling a global function with example usage: worldtocam_to_camtoworld_Rt(R, t) and returns: R_inv,  new_t