def points_in_boxes(self, points):
        """Find the box which the points are in.

        Args:
            points (torch.Tensor): Points in shape (N, 3).

        Returns:
            torch.Tensor: The index of box where each point are in.
        """
        box_idx = points_in_boxes_gpu(
            points.unsqueeze(0),
            self.tensor.unsqueeze(0).to(points.device)).squeeze(0)
        return box_idx
Find the box which the points are in.

        Args:
            points (torch.Tensor): Points in shape (N, 3).

        Returns:
            torch.Tensor: The index of box where each point are in.
        
projects/mmdet3d_plugin/core/bbox/structures/lidar_box3d.py