code: def rotate_pc(pc, rotmat):
      """Rotation points w.r.t. rotmat
      Args:
          pc: np.array (n, 3)
          rotmat: np.array (4, 4)
      Returns:
          pc: (n, 3)
      """
      pc_4 = np.ones([pc.shape[0], 4])
      pc_4[:, 0:3] = pc
      pc_4 = np.dot(pc_4, np.transpose(rotmat))
  
      return pc_4[:, 0:3]
  
file_path: ARKitScenes/threedod/benchmark_scripts/utils/rotation.py
imports: import cv2
  import math
  import numpy
label_desc: Use image node_id 3 for calling a global function with example usage: rotate_pc(pc, rotmat) and returns: pc_4