'Load pre-processed depth for NYUDv2 segmentation set.'

def load_depth(self, idx):

    im = Image.open('{}/data/depth/img_{}.png'.format(self.nyud_dir, idx))
    d = np.array(im, dtype=np.float32)
    d = np.log(d)
    d -= self.mean_logd
    d = d[np.newaxis, ...]
    return d
