code: def box3d_vol(corners):
      """corners: (8,3) no assumption on axis direction"""
      a = np.sqrt(np.sum((corners[0, :] - corners[1, :]) ** 2))
      b = np.sqrt(np.sum((corners[1, :] - corners[2, :]) ** 2))
      c = np.sqrt(np.sum((corners[0, :] - corners[4, :]) ** 2))
      return a * b * c
  
file_path: ARKitScenes/threedod/benchmark_scripts/utils/box_utils.py
imports: import numpy
  import scipy.spatial
  from .rotation import rotate_points_along_z
label_desc: Use image node_id 10 for calling a global function with example usage: box3d_vol(corners) and returns: unknown