code: def is_point_inside_box(box: torch.Tensor, points: torch.Tensor):
      """
      Determines whether points are inside the boxes
      Args:
          box: tensor of shape (8, 3) of the corners of the boxes
          points: tensor of shape (P, 3) of the points
      Returns:
          inside: bool tensor of shape (P,)
      """
      device = box.device
      P = points.shape[0]
  
      n = box_planar_dir(box)  # (6, 3)
      box_planes = get_plane_verts(box)  # (6, 4)
      num_planes = box_planes.shape[0]  # = 6
  
      # a point p is inside the box if it "inside" all planes of the box
      # so we run the checks
      ins = torch.zeros(
          (P, num_planes), device=device, dtype=torch.bool
      )
      for i in range(num_planes):
          is_in, _ = is_inside(
              box_planes[i], n[i], points, return_proj=False
          )
          ins[:, i] = is_in
      ins = ins.all(dim=1)
      return ins
  
imports: import pickle
  import random
  import unittest
  from typing import List, Tuple, Union
  import torch
  import torch.nn.functional
  from pytorch3d.io import save_obj
  from pytorch3d.ops.iou_box3d import _box_planes, _box_triangles, box3d_overlap
  from pytorch3d.transforms.rotation_conversions import random_rotation
  from .common_testing import get_random_cuda_device, get_tests_dir, TestCaseMixin
label_desc: Use image node_id 16 for calling a global function with example usage: is_point_inside_box(box, points) and returns: ins