Noise Class Reference

Noise models for sensor output signals. More...

#include <Noise.hh>

Inherited by GaussianNoiseModel.

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

Public Member Functions
	Noise (NoiseType _type)
	Constructor. More...
virtual	~Noise ()
	Destructor. More...
double	Apply (double _in, double _dt=0.0)
	Apply noise to input data value. More...
virtual double	ApplyImpl (double _in, double _dt=0.0)
	Apply noise to input data value. More...
virtual void	Fini ()
	Finalize the noise model. More...
NoiseType	GetNoiseType () const
	Accessor for NoiseType. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load noise parameters from sdf. More...
virtual void	Print (std::ostream &_out) const
	Output information about the noise model. 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...

Detailed Description

Noise models for sensor output signals.

Member Enumeration Documentation

NoiseType

enum NoiseType

Which noise types we support.

Enumerator
NONE
CUSTOM
GAUSSIAN

Constructor & Destructor Documentation

Noise()

Noise ( NoiseType  _type )

explicit

Constructor.

This should not be called directly unless creating an empty noise model. Use NoiseFactory::NewNoiseModel to instantiate a new noise model.

Parameters

[in]

_type

Type of noise model.

See also

NoiseFactory::NewNoiseModel

~Noise()

virtual ~Noise ( )

virtual

Destructor.

Member Function Documentation

Apply()

double Apply	(	double	_in,
		double	_dt = 0.0
	)

Apply noise to input data value.

Parameters

[in]

_in

Input data value.

Returns

Data with noise applied.

ApplyImpl()

virtual double ApplyImpl ( double  _in, double  _dt = 0.0  )

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 in GaussianNoiseModel.

Fini()

virtual void Fini ( )

virtual

Finalize the noise model.

Reimplemented in ImageGaussianNoiseModel, and GaussianNoiseModel.

GetNoiseType()

NoiseType GetNoiseType

(

)

const

Accessor for NoiseType.

Returns

Type of noise currently in use.

Load()

virtual void Load ( sdf::ElementPtr  _sdf )

virtual

Load noise parameters from sdf.

Parameters

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

Reimplemented in ImageGaussianNoiseModel, and GaussianNoiseModel.

Print()

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

virtual

Output information about the noise model.

Parameters

[in]

_out

Output stream

Reimplemented in ImageGaussianNoiseModel, and GaussianNoiseModel.

SetCamera()

virtual void SetCamera ( rendering::CameraPtr  _camera )

virtual

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 )

virtual

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 )

virtual

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.

---

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

• Noise.hh