 class="mi">255</span> <span class="o">*</span> <span class="n">colors_arr</span><span class="p">[</span><span class="n">rgb_bins</span><span class="p">])</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>

        <span class="n">img</span> <span class="o">=</span> <span class="n">draw_point_cloud_in_img_cv2</span><span class="p">(</span><span class="n">img</span><span class