def METHOD_NAME(self, context, output):
    scene_points, scene_colors = self._AlignPointClouds(context)
    output.get_mutable_value().resize(scene_points.shape[1])
    output.get_mutable_value().mutable_xyzs()[:] = scene_points
    output.get_mutable_value().mutable_rgbs()[:] = scene_colors