parameters: (depth_image, camera_intrinsics )
return_statement: return x, y, z
docstring: Convert the depthmap to a 3D point cloud
  
  	Parameters:
  	-----------
  	depth_frame 	 	 : rs.frame()
  						   The depth_frame containing the depth map
  	camera_intrinsics : The intrinsic values of the imager in whose coordinate system the depth_frame is computed
  
  	Return:
  	----------
  	x : array
  		The x values of the pointcloud in meters
  	y : array
  		The y values of the pointcloud in meters
  	z : array
  		The z values of the pointcloud in meters
docstring_summary: Convert the depthmap to a 3D point cloud
docstring_tokens: Convert the depthmap to a 3D point cloud
function: def convert_depth_frame_to_pointcloud(depth_image, camera_intrinsics ):
  	"""
  	Convert the depthmap to a 3D point cloud
  
  	Parameters:
  	-----------
  	depth_frame 	 	 : rs.frame()
  						   The depth_frame containing the depth map
  	camera_intrinsics : The intrinsic values of the imager in whose coordinate system the depth_frame is computed
  
  	Return:
  	----------
  	x : array
  		The x values of the pointcloud in meters
  	y : array
  		The y values of the pointcloud in meters
  	z : array
  		The z values of the pointcloud in meters
  
  	"""
  	
  	[height, width] = depth_image.shape
  
  	nx = np.linspace(0, width-1, width)
  	ny = np.linspace(0, height-1, height)
  	u, v = np.meshgrid(nx, ny)
  	x = (u.flatten() - camera_intrinsics.ppx)/camera_intrinsics.fx
  	y = (v.flatten() - camera_intrinsics.ppy)/camera_intrinsics.fy
  
  	z = depth_image.flatten() / 1000;
  	x = np.multiply(x,z)
  	y = np.multiply(y,z)
  
  	x = x[np.nonzero(z)]
  	y = y[np.nonzero(z)]
  	z = z[np.nonzero(z)]
  
  	return x, y, z
function_tokens: def convert_depth_frame_to_pointcloud ( depth_image , camera_intrinsics ) : [ height , width ] = depth_image . shape nx = np . linspace ( 0 , width - 1 , width ) ny = np . linspace ( 0 , height - 1 , height ) u , v = np . meshgrid ( nx , ny ) x = ( u . flatten ( ) - camera_intrinsics . ppx ) / camera_intrinsics . fx y = ( v . flatten ( ) - camera_intrinsics . ppy ) / camera_intrinsics . fy z = depth_image . flatten ( ) / 1000 x = np . multiply ( x , z ) y = np . multiply ( y , z ) x = x [ np . nonzero ( z ) ] y = y [ np . nonzero ( z ) ] z = z [ np . nonzero ( z ) ] return x , y , z