import tensorflow as tf

          rotations_y = tf.concat([tf_utils.euler_from_rotation_matrix(
              tf.reshape(detections['rotations_3d'][i], [3, 3]),
              1) for i in range(num_boxes)], axis=0)
          rotations_y = tf.reshape(rotations_y, [-1, 1])
          predicted_boxes = tf.concat([detections['translations_3d'],
                                       detections['sizes_3d'],
