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- def load_depth(path, confidence=None, filter_level=0):
- if path[-4:] == '.npy':
- depth_mm = np.load(path)
- elif path[-4:] == '.png':
- depth_mm = np.array(Image.open(path))
- depth_m = depth_mm.astype(np.float32) / 1000.0
- if confidence is not None:
- depth_m[confidence < filter_level] = 0.0
- return o3d.geometry.Image(depth_m)
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