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We're made for the light of a cave and for twilight. Twilight is the time we see best. When we dim the light down, and the pupil opens, feeling comes out of the eye like touch. Then you really can feel colour, and experience it.
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There is an idea, first of all, of vision fully formed with the eyes closed. Of course the vision we have in a lucid dream often has greater lucidity and clarity than vision with the eyes open.