n">img</span> <span class="o">=</span> <span class="n">imageio</span><span class="o">.</span><span class="n">imread</span><span class="p">(</span><span class="n">im_fpath</span><span class="p">)[:,</span> <span class="p">:,</span> <span class="p">::</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
        <span class="n">points_h</span> <span class="o">=</span> <span class="n">point_cloud_to_homogeneou