pan class="s1">&#39;depth_type&#39;</span><span class="p">:</span> <span class="n">config</span><span class="o">.</span><span class="n">depth_type</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">if</span> <span class="n">requirements</span><span class="p">[</span><span class="s1">&#39;gt_depth&#39;</span><span class="p">]</span> <span class="k">else</span> <span class="kc">None</span><span class="p">,</span>
            <span class="s1">&#39;with_pose&#39;</spa