def box_camera_to_lidar(data, r_rect, velo2cam):
    xyz = data[:, 0:3]
    (l, h, w) = (data[:, 3:4], data[:, 4:5], data[:, 5:6])
    r = data[:, 6:7]
    xyz_lidar = camera_to_lidar(xyz, r_rect, velo2cam)
    return np.concatenate([xyz_lidar, w, l, h, r], axis=1)
def box_camera_to_lidar(data, r_rect, velo2cam):
    xyz = data[:, 0:3]
    (l, h, w) = (data[:, 3:4], data[:, 4:5], data[:, 5:6])
    r = data[:, 6:7]
    xyz_lidar = camera_to_lidar(xyz, r_rect, velo2cam)
    return np.concatenate([xyz_lidar, w, l, h, r], axis=1)