I have a question about cropping the point cloud. I used YOLO for object detection and then SAM (Segment Anything) to segment the object and create the mask. I am using the Intel Realsense D435i camera to take pictures and generate the point cloud. That’s why I can use the ‘function rs2_deproject_pixel_to_point’ to project the 2D pixel to a 3D point and save this into a numpy array. The result of masks looks like this: