Add utils for vista3d (#7999) #135

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Run time

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Job	Run time
min-dep-os (windows-latest)	10m 42s
min-dep-py3 (3.9)	5m 29s
min-dep-os (macOS-latest)	8m 9s
min-dep-py3 (3.10)	5m 58s
min-dep-pytorch (1.10.2)	5m 16s
min-dep-os (ubuntu-latest)	5m 41s
min-dep-py3 (3.11)	5m 22s
min-dep-pytorch (1.11.0)	5m 11s
min-dep-py3 (3.12)	9m 13s
min-dep-pytorch (1.12.1)	5m 27s
min-dep-pytorch (1.13)	5m 41s
min-dep-pytorch (2.0.1)	6m 13s
min-dep-pytorch (latest)	6m 37s
	1h 24m 59s