s</span><span class="p">(</span><span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">lidar_points</span><span class="p">))</span><span class="o">.</span><span class="n">T</span>

        <span class="k">if</span> <span class="n">motion_compensate</span><span class="p">:</span>
            <span class="n">uv</span><span class="p">,</span> <span class="n">uv_cam</span><span class="p">,</span> <span class="n">valid_pts_bool</span> <span class