def convex_hull_point_in_pointcloud(pcloud, indices):
    from scipy.spatial import ConvexHull
    from matplotlib.path import Path

    c_hull = ConvexHull(pcloud.points)
    polygon = pcloud.points[c_hull.vertices, :]

    return Path(polygon).contains_points(indices)
Uses the matplotlib ``contains_points`` method, which in turn uses:
dataset/ETHPy150Open menpo/menpo/menpo/image/boolean.py/convex_hull_point_in_pointcloud