import numpy as np


def remove_pts_ouside_frustum(voxel_grid: np.ndarray) -> np.ndarray:
    """Remove points outside frustum.

    Args:
        voxel_grid (np.ndarray): voxel grid of shape (B, C, H, W, D)

    Returns:
        np.ndarray: voxel grid of shape (B, C, H, W, D)
    """
    # TODO: implement, get additonal arguments
    pass