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Rendering or visualising 3D images

How do I get to visualize or 3D image in python. I have been able to create a pipeline to get point clouds from pair of stereo frames using openCV. I am writing them as PCD files after calculating disparity and reprojecting image to 3D. It takes lot of time to write it to a file.

Is it possible to get something like this.

https://www.youtube.com/watch?v=B2pEbhKAlYw

what things I will need to do to achieve that? I am using python 3 and openCV 3