- https://github.com/waymo-research/waymo-open-dataset/blob/5de359f3429e1496761790770868296140161b66/waymo_open_dataset/utils/box_utils.py#L138 - https://github.com/argoai/argoverse-api/blob/575c222e7d7fa0c56bdc9dc20f71464c4bea2e6d/argoverse/data_loading/object_label_record.py#L105
