title: How can I detect a intersection between a pointcloud and a triangle mesh?
body: <p>I have a point cloud with some objections and I generate a cuboid and want to detect a intersection/collision between the cuboid and the objects from the point cloud.</p>
  
  <p>At the moment I am using Open3D and read a point cloud (xyzrgb, .ply) from a stereo vision camera and generate a 3D geometry (closed triangle mesh).</p>
  
  <p>How can I detect a intersection between the triangle mesh and any point from the point cloud?
  I think the simplest way is to check for every point of the point cloud if it lays within the mesh, but how can I do this?</p>
  
  <pre><code>from open3d import *
  
  pcd = read_point_cloud("out.ply")
  draw_geometries([pcd])
  
  # print("Let\'s draw some primitives")
  mesh_box = create_mesh_box(width=1.0, height=1.0, depth=1.0)
  mesh_box.paint_uniform_color([0.9, 0.4, 0.1])
  mesh_frame = create_mesh_coordinate_frame(size=0.6, origin=[0, 0, 0])
  draw_geometries([pcd, mesh_box, mesh_frame])
  
  TM = np.eye(4, dtype=int)
  TM[0, 3] = 10
  TM[1, 3] = 10
  TM[2, 3] = 10
  
  open3d.geometry.Geometry3D.transform(mesh_box, TM)
  draw_geometries([pcd, mesh_box, mesh_frame])
  </code></pre>