 <span class="c1"># put into city coords, then prune away ground and non-RoI points</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">transform_point_cloud</span><span class="p">(</span><span class="n">lidar_points</span><span class="p">)</span>
    <span class="n">lidar_points</span> <span class="o">=</span> <span class="n">dataset_map</span><span class="o">.</span><span class="n">remove_non_driveable