import copy

import numpy as np
from scipy.spatial import Delaunay


def extract_pc_in_box3d(pc: np.ndarray, box3d: np.ndarray):
    """Extract the subsets of points within the requested bounding box

    Args:
        pc: N x 3 (or more),
        box3d: 8 x 3 (or 4)
    """

    hull = copy.copy(box3d[:, :3])
    if not isinstance(hull, Delaunay):
        hull = Delaunay(hull)
    box3d_roi_inds: np.ndarray = (
        hull.find_simplex(pc[:, :3]) >= 0
    )  # (N, ) boolean array

    return pc[box3d_roi_inds, :], box3d_roi_inds