def rbbox3d_to_bev_corners(rbboxes, origin=0.5):
    return center_to_corner_box2d(rbboxes[..., :2], rbboxes[..., 3:5], rbboxes[(..., 6)], origin)
def rbbox3d_to_bev_corners(rbboxes, origin=0.5):
    return center_to_corner_box2d(rbboxes[..., :2], rbboxes[..., 3:5], rbboxes[(..., 6)], origin)