def point_cloud_to_volume_batch(point_clouds, vsize=12, radius=1.0, flatten=True):
    """ Input is BxNx3 batch of point cloud
        Output is Bx(vsize^3)
    """
    vol_list = []
    for b in range(point_clouds.shape[0]):
        vol = point_cloud_to_volume(np.squeeze(point_clouds[b, :, :]), vsize, radius)
        if flatten:
            vol_list.append(vol.flatten())
        else:
            vol_list.append(np.expand_dims(np.expand_dims(vol, -1), 0))
    if flatten:
        return np.vstack(vol_list)
    else:
        return np.concatenate(vol_list, 0)
 Input is BxNx3 batch of point cloud
        Output is Bx(vsize^3)
    
visualizer/pc_utils.py