Randomly drop a few ellipses in the image for robustness. This is adapted from the DexNet 2.0 codebase. Their code: https://github.com/BerkeleyAutomation/gqcnn/blob/75040b552f6f7fb264c27d427b404756729b5e88/gqcnn/sgd_optimizer.py @param depth_img: a [H x W] set of depth z va
(depth_img, noise_params)
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