In SUNRGBD, y is in/out-ward,

• row1: rotation by column, rotation is camera to world, for [x, z, y]
• row2: intrinsic by column: [[fx, 0, 0], [0, fy, 0], [cx, cy, 1]]

• width: 730
• height: 530

• row: x(column), z(depth), y(row), r, g, b
• x: right is positive
• y: up is positive
• x, y, z range: meter
• r, g, b range: [0, 1]

• name
• 2d bbox top left x, int
• 2d bbox top left y, int
• 2d bbox bias to bottom right x, int
• 2d bbox bias to bottom right y, int
• 3d bbox center x, meter
• 3d bbox center y, meter
• 3d bbox center z, meter
• 3d bbox radius x, meter
• 3d bbox radius y, meter
• 3d bbox radius z, meter
• 3d bbox orientation x
• 3d bbox orientation y

• (N, 6)
• (x, y, z, r, g, b)
• x: right is positive
• y: inward is positive
• z: up is positive

• (K, 8)
• (center_x, center_y, center_z, radius_x, radius_y, radius_z, heading_angle, class_int)
• heading_angle: rotation from x to -y

• (N, 10)
• (mask, v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z)
• mask: 0: point is not in any bbox, vixyz = 0
• mask: 1: point is in at least one bbox
• point + vote = bbox center
• if point is only in one bbox, 3 votes are the same