code: def rand_T():
      t = torch.randn(3)
      axis = torch.randn(3)
      theta = torch.norm(axis)
      axis = axis / theta
      R = rodrigues(axis, theta)
      T = torch.eye(4)
      T[:3, :3] = R
      T[:3, 3] = t
      return T
  
imports: import unittest
  import torch
  import numpy
  import os
  import random
  import sys
  from torch_geometric.data import Data
  from torch_points3d.utils.geometry import rodrigues
  from torch_points3d.metrics.registration_tracker import FragmentRegistrationTracker
label_desc: Use image node_id 1 for calling a global function with example usage: rand_T() and returns: T