code: def test_box_volume(self):
      device = torch.device("cuda:0")
      box1 = torch.tensor(
          [
              [3.1673, -2.2574, 0.4817],
              [4.6470, 0.2223, 2.4197],
              [5.2200, 1.1844, 0.7510],
              [3.7403, -1.2953, -1.1869],
              [-4.9316, 2.5724, 0.4856],
              [-3.4519, 5.0521, 2.4235],
              [-2.8789, 6.0142, 0.7549],
              [-4.3586, 3.5345, -1.1831],
          ],
          dtype=torch.float32,
          device=device,
      )
      box2 = torch.tensor(
          [
              [0.5623, 4.0647, 3.4334],
              [3.3584, 4.3191, 1.1791],
              [3.0724, -5.9235, -0.3315],
              [0.2763, -6.1779, 1.9229],
              [-2.0773, 4.6121, 0.2213],
              [0.7188, 4.8665, -2.0331],
              [0.4328, -5.3761, -3.5436],
              [-2.3633, -5.6305, -1.2893],
          ],
          dtype=torch.float32,
          device=device,
      )
  
      box3 = torch.tensor(
          [
              [0, 0, 0],
              [1, 0, 0],
              [1, 1, 0],
              [0, 1, 0],
              [0, 0, 1],
              [1, 0, 1],
              [1, 1, 1],
              [0, 1, 1],
          ],
          dtype=torch.float32,
          device=device,
      )
  
      RR = random_rotation(dtype=torch.float32, device=device)
      TT = torch.rand((1, 3), dtype=torch.float32, device=device)
      box4 = box3 @ RR.transpose(0, 1) + TT
  
      self.assertClose(
          box_volume(box1).cpu(), torch.tensor(65.899010), atol=1e-3
      )
      self.assertClose(
          box_volume(box2).cpu(), torch.tensor(156.386719), atol=1e-3
      )
      self.assertClose(
          box_volume(box3).cpu(), torch.tensor(1.0), atol=1e-3
      )
      self.assertClose(
          box_volume(box4).cpu(), torch.tensor(1.0), atol=1e-3
      )
  
imports: import pickle
  import random
  import unittest
  from typing import List, Tuple, Union
  import torch
  import torch.nn.functional
  from pytorch3d.io import save_obj
  from pytorch3d.ops.iou_box3d import _box_planes, _box_triangles, box3d_overlap
  from pytorch3d.transforms.rotation_conversions import random_rotation
  from .common_testing import get_random_cuda_device, get_tests_dir, TestCaseMixin
label_desc: Use image node_id 12 for calling the TestIoU3D obj's underlying member method code with example usage: obj.test_box_volume() without return types