02_draw_images.py

# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
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import argparse
import matplotlib.pyplot as plt
from reader import Reader


parser = argparse.ArgumentParser()
parser.add_argument("recording_path")
args = parser.parse_args()

reader = Reader(recording_path=args.recording_path)

images = reader.read_state_dict(index=20)

plt.subplot(221)
plt.title('left rgb')
plt.imshow(images['robot.front_camera.left.rgb_image'])
plt.subplot(222)
plt.title('right rgb')
plt.imshow(images['robot.front_camera.right.rgb_image'])
plt.subplot(223)
plt.title('left depth (inverse)')
plt.imshow(1.0 / images['robot.front_camera.left.depth_image'])
plt.subplot(224)
plt.title('right depth (inverse)')
plt.imshow(1.0 / images['robot.front_camera.right.depth_image'])
plt.show()