#NEWLINE# def unproject_depth_image( self , depth_image , camera_space = False ) : #NEWLINE# #INDENT# us = ( np . arange ( depth_image . size ) % depth_image . shape [ 1 ] ) #NEWLINE# vs = ( np . arange ( depth_image . size ) // depth_image . shape [ 1 ] ) #NEWLINE# ds = depth_image . ravel ( ) #NEWLINE# uvd = ch . array ( np . vstack ( ( us . ravel ( ) , vs . ravel ( ) , ds . ravel ( ) ) ) . T ) #NEWLINE# xyz = self . unproject_points ( uvd , camera_space = camera_space ) #NEWLINE# return xyz . reshape ( ( depth_image . shape [ 0 ] , depth_image . shape [ 1 ] , ( - 1 ) ) )