def METHOD_NAME(self, context):
    points = {}
    colors = {}
    for id in self._id_list:
        point_cloud = self.EvalAbstractInput(
            context, self._point_cloud_ports[id].get_index()).get_value()
        X_CiSi = self.EvalAbstractInput(
            context, self._transform_ports[id].get_index()).get_value()
        points[id] = _TransformPoints(
            point_cloud.xyzs(), X_CiSi.GetAsMatrix4())
        if point_cloud.has_rgbs():
            colors[id] = point_cloud.rgbs()
        else:
            colors[id] = _TileColors(
                self._default_rgb, point_cloud.xyzs().shape[1])
    return _ConcatenatePointClouds(points, colors)