ls</span><span class="p">)</span> <span class="k">if</span> <span class="n">plot_ground</span> <span class="k">else</span> <span class="n">not_ground_logicals</span><span class="p">]</span>

    <span class="c1"># put back into ego-vehicle coords</span>
    <span class="n">lidar_points</span> <span class="o">=</span> <span class="n">city_to_egovehicle_se3</span><span class="o">.</span><span class="n">inverse_transform_point_cloud</span><span class="p">(</span><span class="n">lidar_points</span><span class="