DepthImageGaussianNoiseModel.h

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#ifndef GAZEBO_NOISY_DEPTH_CAMERA_DEPTHIMAGEGAUSSIANNOISEMODEL_H
#define GAZEBO_NOISY_DEPTH_CAMERA_DEPTHIMAGEGAUSSIANNOISEMODEL_H
 
#include <gazebo/sensors/GaussianNoiseModel.hh>
#include <gazebo_noisy_depth_camera/PostRenderImageNoise.h>
#include <gazebo/sensors/Noise.hh>
 
namespace gazebo
{
namespace sensors
{
 
class DepthImageGaussianNoiseModel : public ImageGaussianNoiseModel, public PostRenderImageNoise
{
  public: void SetCamera(rendering::CameraPtr _camera) override;
  public: void ApplyFloat(float* _buffer, size_t _width, size_t _height, size_t _depth, const std::string& _pixelFormat) override;
};
 
}
}
 
#endif //GAZEBO_NOISY_DEPTH_CAMERA_DEPTHIMAGEGAUSSIANNOISEMODEL_H