def show_depth_frame_as_pointcloud(kinect_node, idx, loader: DataLoader):
depth_image, _, camera = loader.frame(idx, kinect_node)
points = camera.project_frame(depth_image)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
o3d.visualization.draw_geometries([pcd])
def show_depth_frame(kinect_node, idx, loader: DataLoader):
depth_frame, _, _ = loader.frame(idx, kinect_node)
plt.imshow(depth_frame, cmap='magma', interpolation='nearest')
plt.colorbar()
plt.show()
