Gaussian noise class. More...

#include <GaussianNoiseModel.hh>

Inherits Noise.

Public Types
enum	NoiseType { NONE, CUSTOM, GAUSSIAN }
	Which noise types we support. More...

Public Member Functions
	GaussianNoiseModel ()
	Constructor. More...

virtual	~GaussianNoiseModel ()
	Destructor. More...

double	Apply (double _in, double _dt=0.0)
	Apply noise to input data value. More...

double	ApplyImpl (double _in, double _dt)
	Apply noise to input data value. More...

virtual void	Fini ()
	Finalize the noise model. More...

double	GetBias () const
	Accessor for bias. More...

double	GetDynamicBiasCorrelationTime () const
	Accessor for dynamic bias process correlation time (seconds). More...

double	GetDynamicBiasStdDev () const
	Accessor for dynamic bias process standard deviation. More...

double	GetMean () const
	Accessor for mean. More...

NoiseType	GetNoiseType () const
	Accessor for NoiseType. More...

double	GetStdDev () const
	Accessor for stddev. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load noise parameters from sdf. More...

virtual void	Print (std::ostream &_out) const
	Documentation inherited. More...

virtual void	SetCamera (rendering::CameraPtr _camera)
	Set camera needed to create image noise. More...

virtual void	SetCustomNoiseCallback (boost::function< double(double)> _cb)
	Register a custom noise callback. More...

virtual void	SetCustomNoiseCallbackTime (boost::function< double(double, double)> _cb)
	Register a custom noise callback, with time. More...

void	SetDynamicBiasCorrelationTime (const double _stddev)
	Set correlation time of dynamic bias process, in seconds. More...

void	SetDynamicBiasStdDev (const double _stddev)
	Set standard deviation of dynamic bias process. More...

void	SetMean (const double _mean)
	Set mean. More...

void	SetStdDev (const double _stddev)
	Set stddev. More...

Protected Attributes
double	bias
	If type starts with GAUSSIAN, the bias we'll add. More...

double	mean
	If type starts with GAUSSIAN, the mean of the distribution from which we sample when adding noise. More...

double	precision
	If type==GAUSSIAN_QUANTIZED, the precision to which the output signal is rounded. More...

bool	quantized
	True if the type is GAUSSIAN_QUANTIZED. More...

double	stdDev
	If type starts with GAUSSIAN, the standard deviation of the distribution from which we sample when adding noise. More...

Detailed Description

Gaussian noise class.

Gaussian noise class for image sensors.

Member Enumeration Documentation

◆ NoiseType

enum NoiseType

inherited

Which noise types we support.

Enumerator
NONE
CUSTOM
GAUSSIAN

Constructor & Destructor Documentation

◆ GaussianNoiseModel()

GaussianNoiseModel ( )

Constructor.

◆ ~GaussianNoiseModel()

virtual ~GaussianNoiseModel ( )

virtual

Destructor.

Member Function Documentation

◆ Apply()

double Apply	(	double	_in,
		double	_dt = `0.0`
	)

inherited

Apply noise to input data value.

Parameters

[in] _in Input data value.

Returns: Data with noise applied.

◆ ApplyImpl()

double ApplyImpl	(	double	_in,
		double	_dt
	)

virtual

Apply noise to input data value.

This gets overriden by derived classes, and called by Apply.

Parameters

[in] _in Input data value.

Returns: Data with noise applied.

Reimplemented from Noise.

◆ Fini()

virtual void Fini ( )

virtual

Finalize the noise model.

Reimplemented from Noise.

Reimplemented in ImageGaussianNoiseModel.

◆ GetBias()

double GetBias ( ) const

Accessor for bias.

Returns: Bias on output.

◆ GetDynamicBiasCorrelationTime()

double GetDynamicBiasCorrelationTime ( ) const

Accessor for dynamic bias process correlation time (seconds).

Returns: Correlation time of Gaussian noise process driving bias walk

◆ GetDynamicBiasStdDev()

double GetDynamicBiasStdDev ( ) const

Accessor for dynamic bias process standard deviation.

Returns: Standard deviation of Gaussian noise driving bias walk

◆ GetMean()

double GetMean ( ) const

Accessor for mean.

Returns: Mean of Gaussian noise.

◆ GetNoiseType()

NoiseType GetNoiseType ( ) const

inherited

Accessor for NoiseType.

Returns: Type of noise currently in use.

◆ GetStdDev()

double GetStdDev ( ) const

Accessor for stddev.

Returns: Standard deviation of Gaussian noise.

◆ Load()

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load noise parameters from sdf.

Parameters

[in]	_sdf	SDF parameters.
[in]	_sensor	Type of sensor.

Reimplemented from Noise.

Reimplemented in ImageGaussianNoiseModel.

◆ Print()

virtual void Print ( std::ostream & _out ) const

virtual

Documentation inherited.

Reimplemented from Noise.

Reimplemented in ImageGaussianNoiseModel.

◆ SetCamera()

virtual void SetCamera ( rendering::CameraPtr _camera )

virtualinherited

Set camera needed to create image noise.

This is only needed for image sensors, i.e. camera/multicamera/depth sensors, which use shaders for more efficient noise generation.

Parameters

[in] _camera Camera associated to an image sensor

Reimplemented in ImageGaussianNoiseModel.

◆ SetCustomNoiseCallback()

virtual void SetCustomNoiseCallback ( boost::function< double(double)> _cb )

virtualinherited

Register a custom noise callback.

If both a function that takes time and one that doesn't are set, the one without time will be ignored.

Parameters

[in] _cb Callback function for applying a custom noise model. This is useful if users want to use their own noise model from a sensor plugin.

◆ SetCustomNoiseCallbackTime()

virtual void SetCustomNoiseCallbackTime ( boost::function< double(double, double)> _cb )

virtualinherited

Register a custom noise callback, with time.

If both a function that takes time and one that doesn't are set, the one without time will be ignored.

Parameters

[in] _cb Callback function for applying a custom noise model. This is useful if users want to use their own noise model from a sensor plugin.

◆ SetDynamicBiasCorrelationTime()

void SetDynamicBiasCorrelationTime ( const double _stddev )

Set correlation time of dynamic bias process, in seconds.

Parameters

[in] _stddev Standard deviation of bias noise process.

◆ SetDynamicBiasStdDev()

void SetDynamicBiasStdDev ( const double _stddev )

Set standard deviation of dynamic bias process.

Parameters

[in] _stddev Standard deviation of bias noise process.

◆ SetMean()

void SetMean ( const double _mean )

Set mean.

Parameters

[in] _mean Mean of Gaussian noise.

◆ SetStdDev()

void SetStdDev ( const double _stddev )

Set stddev.

Parameters

[in] _stddev Standard deviation of Gaussian noise.

Member Data Documentation

◆ bias

double bias

protected

If type starts with GAUSSIAN, the bias we'll add.

◆ mean

double mean

protected

If type starts with GAUSSIAN, the mean of the distribution from which we sample when adding noise.

◆ precision

double precision

protected

If type==GAUSSIAN_QUANTIZED, the precision to which the output signal is rounded.

◆ quantized

bool quantized

protected

True if the type is GAUSSIAN_QUANTIZED.

◆ stdDev

double stdDev

protected

If type starts with GAUSSIAN, the standard deviation of the distribution from which we sample when adding noise.

The documentation for this class was generated from the following file:

GaussianNoiseModel.hh

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ NoiseType

Constructor & Destructor Documentation

◆ GaussianNoiseModel()

◆ ~GaussianNoiseModel()

Member Function Documentation

◆ Apply()

◆ ApplyImpl()

◆ Fini()

◆ GetBias()

◆ GetDynamicBiasCorrelationTime()

◆ GetDynamicBiasStdDev()

◆ GetMean()

◆ GetNoiseType()

◆ GetStdDev()

◆ Load()

◆ Print()

◆ SetCamera()

◆ SetCustomNoiseCallback()

◆ SetCustomNoiseCallbackTime()

◆ SetDynamicBiasCorrelationTime()

◆ SetDynamicBiasStdDev()

◆ SetMean()

◆ SetStdDev()

Member Data Documentation

◆ bias

◆ mean

◆ precision

◆ quantized

◆ stdDev