def read_depth(filename):
    depth_h = np.array(read_pfm(filename)[0], dtype=np.float32)
    depth_h = cv2.resize(depth_h, None, fx=0.5, fy=0.5, interpolation=cv2.INTER_NEAREST)
    depth_h = depth_h[44:556, 80:720]
    mask = (depth > 0)
    return (depth_h, mask)
def read_depth(filename):
    depth_h = np.array(read_pfm(filename)[0], dtype=np.float32)
    depth_h = cv2.resize(depth_h, None, fx=0.5, fy=0.5, interpolation=cv2.INTER_NEAREST)
    depth_h = depth_h[44:556, 80:720]
    mask = (depth > 0)
    return (depth_h, mask)