google-deepmind / google-deepmind/lab
What is the range of depth information in lab
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Description
def preprocess_frame(self, rgbd):
rgb = rgbd[:, :, 0:3]
d = rgbd[:, :, 3] # 84*84
d = d[16:-16, :] # crop
d = d[:, 2:-2] # crop
d = d[::13, ::5] # subsample
d = d.flatten()
d = np.power(d/255.0, 10)
d = np.digitize(d, [0,0.05,0.175,0.3,0.425,0.55,0.675,0.8,1.01])
d -= 1
return rgb, d
d[0-8] or d[1-9] ?
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