def METHOD_NAME(points_dict, colors_dict):
    scene_points = None
    scene_colors = None
    for id in points_dict:
        if scene_points is None:
            scene_points = points_dict[id]
        else:
            scene_points = np.hstack((points_dict[id], scene_points))
        if scene_colors is None:
            scene_colors = colors_dict[id]
        else:
            scene_colors = np.hstack((colors_dict[id], scene_colors))
    valid_indices = np.logical_not(np.isnan(scene_points))
    scene_points = scene_points[:, valid_indices[0, :]]
    scene_colors = scene_colors[:, valid_indices[0, :]]
    return scene_points, scene_colors