code: def box3d_vol(corners):
      """corners: (8,3). No order required"""
      corners = np.asarray(corners)
      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: torch-points3d/torch_points3d/utils/box_utils.py
imports: import torch
  import numpy
  from scipy.spatial import ConvexHull
  from .geometry import euler_angles_to_rotation_matrix
label_desc: Use image node_id 4 for calling a global function with example usage: box3d_vol(corners) and returns: unknown