import tensorflow as tf

        max_x = tf.cast(0.0 + labeled_sizes[i][0] / 2.0, dtype=tf.float32)
        # min_y = tf.cast(0.0 - labeled_sizes[i][1] / 2.0, dtype=tf.float32)
        # max_y = tf.cast(0.0 + labeled_sizes[i][1] / 2.0, dtype=tf.float32)
        min_z = tf.cast(0.0 - labeled_sizes[i][2] / 2.0, dtype=tf.float32)
        max_z = tf.cast(0.0 + labeled_sizes[i][2] / 2.0, dtype=tf.float32)

        translation = tf.reshape([labeled_translations[i][0],
                                  labeled_translations[i][2]], [2, 1])

        pt_0 = rot @ tf.reshape([min_x, min_z], [2, 1]) + translation
        pt_1 = rot @ tf.reshape([min_x, max_z], [2, 1]) + translation
        pt_2 = rot @ tf.reshape([max_x, min_z], [2, 1]) + translation
