def METHOD_NAME(pointcloud, boundary):
	"""
	Get the clipped pointcloud withing the X and Y bounds specified in the boundary
	Parameters:
	-----------
	pointcloud 	 	 : array
						   The input pointcloud which needs to be clipped
	boundary      : array
										The X and Y bounds 
	Return:
	----------
	pointcloud : array
		The clipped pointcloud
	"""
	assert (pointcloud.shape[0]>=2)
	pointcloud = pointcloud[:,np.logical_and(pointcloud[0,:]<boundary[1], pointcloud[0,:]>boundary[0])]
	pointcloud = pointcloud[:,np.logical_and(pointcloud[1,:]<boundary[3], pointcloud[1,:]>boundary[2])]
	return pointcloud