def get_lidar_in_image_fov(
    pc_velo, calib, xmin, ymin, xmax, ymax, return_more=False, clip_distance=2.0
):
    """ Filter lidar points, keep those in image FOV """
    pts_2d = calib.project_velo_to_image(pc_velo)
    fov_inds = (
        (pts_2d[:, 0] < xmax)
        & (pts_2d[:, 0] >= xmin)
        & (pts_2d[:, 1] < ymax)
        & (pts_2d[:, 1] >= ymin)
    )
    fov_inds = fov_inds & (pc_velo[:, 0] > clip_distance)
    imgfov_pc_velo = pc_velo[fov_inds, :]
    if return_more:
        return imgfov_pc_velo, pts_2d, fov_inds
    else:
        return imgfov_pc_velo