code: def _check_valid_data(self, data):
          
          if data.dtype.type is not np.float32 and \
             data.dtype.type is not np.float64:
              raise ValueError(
                  'Illegal data type. RGB-D images only support float arrays')
  
          if len(data.shape) != 3 and data.shape[2] != 4:
              raise ValueError(
                  'Illegal data type. RGB-D images only support four channel')
  
          color_data = data[:, :, :3]
          if np.any((color_data < 0) | (color_data > BINARY_IM_MAX_VAL)):
              raise ValueError(
                  'Color channels must be in the range (0, BINARY_IM_MAX_VAL)')
docs: Checks that the given data is a float array with four channels.
  
          Parameters
          ----------
          data : :obj:`numpy.ndarray`
              The data to check.
  
          Raises
          ------
          ValueError
              If the data is invalid.