code: def indices_to_points(indices, pitch, origin):
      
      indices = np.asanyarray(indices, dtype=np.float64)
      origin = np.asanyarray(origin, dtype=np.float64)
      pitch = float(pitch)
  
      if indices.shape != (indices.shape[0], 3):
          from IPython import embed
          embed()
          raise ValueError('shape of indices must be (q, 3)')
  
      if origin.shape != (3,):
          raise ValueError('shape of origin must be (3,)')
  
      points = indices * pitch + origin
      return points
docs: Convert indices of an (n,m,p) matrix into a set of voxel center points.
  
      Parameters
      ----------
      indices: (q, 3) int, index of voxel matrix (n,m,p)
      pitch: float, what pitch was the voxel matrix computed with
      origin: (3,) float, what is the origin of the voxel matrix
  
      Returns
      ----------
      points: (q, 3) float, list of points