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