def update_field(self, poses=None):
m = np.clip(self.particle_field, <NUM_LIT:0>, <NUM_LIT:1>)<EOL>part_color = np.zeros(self._image.shape)<EOL>for a in range(<NUM_LIT:4>): part_color[:,:,:,a] = self.part_col[a]<EOL>self.field = np.zeros(self._image.shape)<EOL>for a in range(<NUM_LIT:4>):<EOL><INDENT>self.field[:,:,:,a] = m*part_color[:,:,:,a] + (<NUM_LIT:1>-m) * self._image[:,:,:,a]<EOL><DEDENT>
updates self.field