Preprocess Depth

[jzhzhang]

Hi, thanks for sharing the amazing code.

I read the code carefully and find the depth part is weird. I know the range of depth from habitat-sim is from [0-1] with given min/max depth. But the code seems to not correctly transfer the depth to the actual range.

https://github.com/Improbable-AI/Stubborn/blob/1a0f85bab2f203229406a5f311688ea7cf3b251e/Stubborn/agent/agent_helper.py#L475

The pixel, e.g. in mask1, has an extremely large depth (>10000).

        depth[mask1] = 100.0
        depth = min_d * 100.0 + depth * max_d * 100.0

I hope my question is clear, and really appreciate any help.