code: def get_lines(box, color=np.array([1.0, 0.0, 0.0])):
      """
      Args:
          box: np.array (8, 3)
              8 corners
          color: line color
      Returns:
          o3d.Linset()
      """
      points = box
      lines = [
          [0, 1],
          [0, 3],
          [1, 2],
          [2, 3],
          [4, 5],
          [4, 7],
          [5, 6],
          [6, 7],
          [0, 4],
          [1, 5],
          [2, 6],
          [3, 7],
      ]
      colors = [color for i in range(len(lines))]
      line_set = o3d.geometry.LineSet()
      line_set.points = o3d.utility.Vector3dVector(points)
      line_set.lines = o3d.utility.Vector2iVector(lines)
      line_set.colors = o3d.utility.Vector3dVector(colors)
      return line_set
  
imports: import cv2
  import numpy
  import open3d
label_desc: Use image node_id 2 for calling a global function with example usage: get_lines(box, color) and returns: line_set