code: def draw_bounding_box_3d(
      size,
      pose,
      camera_intrinsic,
      world2camera,
      linestyle="solid",
      color=None,
      linewidth=1,
  ):
      """Draw bounding box."""
      size = size * 0.5
  
      origin = np.zeros([4, 1])
      origin[3, 0] = 1.0
      bbox3d = np.tile(origin, [1, 10])  # shape: (4, 10)
      bbox3d[0:3, 0] += np.array([-size[0], -size[1], -size[2]])
      bbox3d[0:3, 1] += np.array([size[0], -size[1], -size[2]])
      bbox3d[0:3, 2] += np.array([size[0], -size[1], size[2]])
      bbox3d[0:3, 3] += np.array([-size[0], -size[1], size[2]])
  
      bbox3d[0:3, 4] += np.array([-size[0], size[1], -size[2]])
      bbox3d[0:3, 5] += np.array([size[0], size[1], -size[2]])
      bbox3d[0:3, 6] += np.array([size[0], size[1], size[2]])
      bbox3d[0:3, 7] += np.array([-size[0], size[1], size[2]])
  
      bbox3d[0:3, 8] += np.array([0.0, -size[1], 0.0])
      bbox3d[0:3, 9] += np.array([0.0, -size[1], -size[2]])
  
      projected_bbox3d = camera_intrinsic @ world2camera @ pose @ bbox3d
      projected_bbox3d = (
          projected_bbox3d[0:2, :] / projected_bbox3d[2, :]
      )
  
      lw = linewidth
      plt.plot(
          projected_bbox3d[0, [0, 4, 7, 3]],
          projected_bbox3d[1, [0, 4, 7, 3]],
          linewidth=lw,
          linestyle=linestyle,
          color=color,
      )
      plt.plot(
          projected_bbox3d[0, [1, 5, 6, 2]],
          projected_bbox3d[1, [1, 5, 6, 2]],
          linewidth=lw,
          linestyle=linestyle,
          color=color,
      )
      plt.plot(
          projected_bbox3d[0, [0, 1, 2, 3, 0]],
          projected_bbox3d[1, [0, 1, 2, 3, 0]],
          linewidth=lw,
          linestyle=linestyle,
          color=color,
      )
      plt.plot(
          projected_bbox3d[0, [4, 5, 6, 7, 4]],
          projected_bbox3d[1, [4, 5, 6, 7, 4]],
          linewidth=lw,
          linestyle=linestyle,
          color=color,
      )
      plt.plot(
          projected_bbox3d[0, [8, 9]],
          projected_bbox3d[1, [8, 9]],
          linewidth=lw,
          linestyle=linestyle,
          color=color,
      )
  
imports: import os
  import pickle
  import re
  import matplotlib.pyplot
  import numpy
  import tensorflow
  from tensorflow_graphics.projects.points_to_3Dobjects.utils import tf_utils
  from google3.pyglib import gfile
label_desc: Use image node_id 13 for calling a global function with example usage: draw_bounding_box_3d(size, pose, camera_intrinsic, world2camera, linestyle, color, linewidth) without return types