Some simple corrections

[mfatih7]

depth_clean = f['depth'].value

gives errors and can be corrected like

depth_clean = f['depth'][:]

---

Then

f2 = plt.imshow(data['depth'].astype(np.float))

can be corrected like

# f2 = plt.imshow(data['depth'])

---

changing

plt.imshow(rgb.transpose((1, 2, 0)).astype(np.float))

to

plt.imshow(rgb.transpose((1, 2, 0)).astype(np.float64))

prevents some warnings