depth_utils.py

import numpy as np
import re


def read_pfm(path):
    """Read pfm file.

    Args:
        path (str): path to file

    Returns:
        tuple: (data, scale)
    """
    with open(path, "rb") as file:

        color = None
        width = None
        height = None
        scale = None
        endian = None

        header = file.readline().rstrip()
        if header.decode("ascii") == "PF":
            color = True
        elif header.decode("ascii") == "Pf":
            color = False
        else:
            raise Exception("Not a PFM file: " + path)

        dim_match = re.match(r"^(\d+)\s(\d+)\s$", file.readline().decode("ascii"))
        if dim_match:
            width, height = list(map(int, dim_match.groups()))
        else:
            raise Exception("Malformed PFM header.")

        scale = float(file.readline().decode("ascii").rstrip())
        if scale < 0:
            # little-endian
            endian = "<"
            scale = -scale
        else:
            # big-endian
            endian = ">"

        data = np.fromfile(file, endian + "f")
        shape = (height, width, 3) if color else (height, width)

        data = np.reshape(data, shape)
        data = np.flipud(data)

        return data, scale