def METHOD_NAME(self):
    # a box rotated with 45 degree, the intersection with x and y axis
    # is [2*sqrt(2), 0] and [0, 2*sqrt(2)]
    boxes = np.array(
        [
            [[0, 0, 0, 4, 4, 4, np.pi / 4]],
            [[5, 5, 5, 1, 1, 1, 0]],
        ]
    ).astype("float32")
    points = np.array(
        [
            [
                [0, 0, 0],
                [0, 0, 2],
                # this point has z value larger than box top z
                [0, 0, 2.1],
                [2.82, 0, 0],
                # this point has x value larger than rotated box
                [2.83, 0, 0],
            ]
        ]
        * 2
    ).astype("float32")
    res = keras_cv.point_cloud.within_box3d_index(points, boxes)
    self.assertAllEqual([[0, 0, -1, 0, -1], [-1, -1, -1, -1, -1]], res)