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index 0000000000000000000000000000000000000000..1553ccb9cee96e4b6f9b393a7bc6fffe543c8b1a
--- /dev/null
+++ b/camera_data/intrinsics.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39831ce63d9128ab61208b6bf68680788ea76b759e314b940fd4801d9a52d96f
+size 200
diff --git a/data_io.py b/data_io.py
index 9178f8a8817a3dfd44d26b226254796b1d6e1b66..e18f684db62656c365fbea6c5d1c8c6837191ee2 100644
--- a/data_io.py
+++ b/data_io.py
@@ -25,23 +25,20 @@ class CarlaDataset(object):
                 sensor_data = os.listdir(os.path.join(self.data_root, sensor_name))
                 self.data_dict['sensor_name'] = sensor_data
 
-    def get_intrinsics(self, fov, h, w):
-        pass
-
     def read_depth(self, raw_depth, norm_depth):
         '''
-        raw_depth: [H, W, 3] in RGB format
+        raw_depth: path to raw_depth.png
+        norm_depth: path to normalized_depth.png for valid mask
         '''
-        depth = cv2.imread(raw_depth)
-        import pdb; pdb.set_trace()
-        depth_value = (depth[..., 0] + depth[..., 1] * 256 + depth[..., 2] * (256**2)) / (256**3 - 1)
+        depth = np.load(raw_depth)
         norm_depth = cv2.imread(norm_depth)
         valid_mask = norm_depth[..., 0] != 255
         cv2.imwrite('./valid_mask.png', (valid_mask*255).astype(np.uint8))
-        return depth_value, valid_mask
+        return depth, valid_mask
+
 
 if __name__ == '__main__':
     carla_dataset = CarlaDataset()
-    raw_depth = 'Middle_RawDepth/000005.png'
-    norm_depth = 'Middle_NormalizedDepth/000005.png'
+    raw_depth = 'Middle_RawDepth/000205.npy'
+    norm_depth = 'Middle_NormalizedDepth/000205.png'
     carla_dataset.read_depth(raw_depth, norm_depth)
\ No newline at end of file
diff --git a/valid_mask.png b/valid_mask.png
index 20e8d6d6ceb8aa6494d081ea62fe6fcbb41b9f55..03f7a93e85c4e6133f8c90097ae9bef8f0553488 100644
--- a/valid_mask.png
+++ b/valid_mask.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:608b789f3194a3a908c4001b71430422d53ff1e73c94da6b2c8c5cc933dc3b69
-size 12290
+oid sha256:60f9c0e2f3165d2bee1dd67882cd01d10fc031c9ac6d6c4cd8ee420bd2df32c3
+size 14673