function helperDisplay3DBoxesOverlaidPointCloud(ptCld,labelsCar,carColor,...
    labelsTruck,truckColor,titleForFigure)
% Display the point cloud with different colored bounding boxes for different
% classes.
    figure;
    ax = pcshow(ptCld);
    showShape('cuboid',labelsCar,'Parent',ax,'Opacity',0.1,...
        'Color',carColor,'LineWidth',0.5);
    hold on;
    showShape('cuboid',labelsTruck,'Parent',ax,'Opacity',0.1,...
        'Color',truckColor,'LineWidth',0.5);
    title(titleForFigure);
    zoom(ax,1.5);
end