code: def sample_vis(
      dataset_path: str, split: str, sample_id: str, max_depth
  ):
      dataset = ARKitScenesDataset(root=dataset_path, split=split)
      video_id = sample_id.split("_")[0]
      idx = None
      for i in range(len(dataset)):
          if (
              dataset.samples[i][0] == video_id
              and dataset.samples[i][1] == sample_id
          ):
              idx = i
              break
      if idx is None:
          raise ValueError(
              f"Can't find sample from split={split}, with video_id={video_id} and sample_id={sample_id}"
          )
      sample = dataset[idx]
  
      max_depth = np.min(
          [
              max_depth,
              sample[dataset_keys.HIGH_RES_DEPTH_IMG].max(),
              sample[dataset_keys.LOW_RES_DEPTH_IMG].max(),
          ]
      )
      fig, axes = plt.subplots(2, 2)
      axes[0, 0].set_title("Color img")
      axes[0, 0].axis(False)
      axes[0, 0].imshow(
          image_chw_to_hwc(sample[dataset_keys.COLOR_IMG] / 255)
      )
      axes[0, 1].set_title("High Res img (0=no depth)")
      axes[0, 1].axis(False)
      img = axes[0, 1].imshow(
          sample[dataset_keys.HIGH_RES_DEPTH_IMG][0],
          vmin=0,
          vmax=max_depth,
          cmap=plt.get_cmap("turbo"),
      )
      fig.colorbar(img, ax=axes[0, 1])
      axes[1, 1].set_title("Low Res img")
      axes[1, 1].axis(False)
      img = axes[1, 1].imshow(
          sample[dataset_keys.LOW_RES_DEPTH_IMG][0],
          vmin=0,
          vmax=max_depth,
          cmap=plt.get_cmap("turbo"),
      )
      fig.colorbar(img, ax=axes[1, 1])
      axes[1, 0].set_title("Color and low res overlay")
      axes[1, 0].axis(False)
      axes[1, 0].imshow(
          image_chw_to_hwc(sample[dataset_keys.COLOR_IMG] / 255)
      )
      axes[1, 0].imshow(
          sample[dataset_keys.LOW_RES_DEPTH_IMG][0],
          vmin=0,
          vmax=max_depth,
          cmap=plt.get_cmap("turbo"),
          alpha=0.5,
      )
      plt.show()
      plt.waitforbuttonpress()
  
imports: import argparse
  import numpy
  import matplotlib.pyplot
  from dataset import ARKitScenesDataset
  from data_utils import image_chw_to_hwc
  import dataset_keys
label_desc: Use image node_id 1 for calling a global function with example usage: sample_vis(dataset_path, split, sample_id, max_depth) without return types