code: def _to_voxel_coordinates(streamline, lin_T, offset):
      """Applies a mapping from streamline coordinates to voxel_coordinates,
      raises an error for negative voxel values."""
      inds = np.dot(streamline, lin_T)
      inds += offset
      if inds.min().round(decimals=6) < 0:
          raise IndexError(
              "streamline has points that map to negative voxel"
              " indices"
          )
      return inds.astype(np.intp)
  
label_desc: Use image node_id 2 for calling a global function with example usage: _to_voxel_coordinates(streamline, lin_T, offset) and returns: inds