def METHOD_NAME(self):
    self.pc_concat.GetInputPort("point_cloud_CiSi_0").FixValue(
        self.context, self.pc)
    self.pc_concat.GetInputPort("point_cloud_CiSi_1").FixValue(
        self.context, self.pc_no_rgbs)
    fused_pc = self.pc_concat.GetOutputPort("point_cloud_FS").Eval(
        self.context)
    self.assertEqual(fused_pc.size(), 2 * self.num_points)
    # The first point cloud should be from [-0.1 to 0.1].
    # The second point cloud should be from [0.9 to 1.1].
    self.assertTrue(np.max(fused_pc.xyzs()[0, :]) >= 1.0)
    self.assertTrue(np.min(fused_pc.xyzs()[0, :]) <= 0.0)
    self.assertTrue(fused_pc.has_rgbs())
    # We don't know in what order the two point clouds will be combined.
    rgb_first = np.all(fused_pc.rgbs()[:, 0] != np.array([255, 255, 255]))
    rgb_last = np.all(fused_pc.rgbs()[:, -1] != np.array([255, 255, 255]))
    no_rgb_first = np.all(
        fused_pc.rgbs()[:, 0] == np.array([255, 255, 255]))
    no_rgb_last = np.all(
        fused_pc.rgbs()[:, -1] == np.array([255, 255, 255]))
    self.assertTrue(
        (rgb_first and no_rgb_last) or (no_rgb_first and rgb_last))