Extract gt pointclouds

[SxJyJay]

An inspiring work.
I want to know the specific process of extracting the gt point clouds from the provided meshes on Pix3D dataset, in particular, the coordinates transformation from original meshes to the processed point clouds. Whether you just normalized the coordinates of these sampled points, or utilizing the camera's extrinsics and intrinsics to transform these sampled points to image plane?
If possible, could you please offer the corresponding specific preprocess code?
Thanks a lot!