code: def solve_transformation(
      verts, j3d, j2d, plane_model, colmap_cap, smpl_cap
  ):
      mvp = np.matmul(
          smpl_cap.intrinsic_matrix, smpl_cap.extrinsic_matrix
      )
      trans = solve_translation(j3d, j2d, mvp)
      smpl_cap.cam_pose.camera_center_in_world -= trans[0]
      joints_world = (
          ray_utils.to_homogeneous(j3d)
          @ smpl_cap.cam_pose.world_to_camera.T
          @ colmap_cap.cam_pose.camera_to_world.T
      )[:, :3]
      scale = solve_scale(joints_world, colmap_cap, plane_model)
      print("scale", scale)
      transf = smpl_cap.cam_pose.world_to_camera.T * scale
      transf[3, 3] = 1
      transf = transf @ colmap_cap.cam_pose.camera_to_world_3x4.T
      verts_world = ray_utils.to_homogeneous(verts) @ transf
      return transf, verts_world
  
imports: import sys
  import argparse
  import os
  import copy
  import torch
  import joblib
  import numpy
  import open3d
  import cv2
  from tqdm import tqdm
  from data_io import colmap_helper
  from utils import debug_utils, ray_utils
  from cameras import camera_pose
  from geometry.basics import Translation, Rotation
  from geometry import transformations
label_desc: Use image node_id 6 for calling a global function with example usage: solve_transformation(verts, j3d, j2d, plane_model, colmap_cap, smpl_cap) and returns: transf,  verts_world