MultiplicativeGaussianNoiseModel.cpp

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#include <gazebo_noisy_depth_camera/MultiplicativeGaussianNoiseModel.h>
#include <gazebo/rendering/Camera.hh>
#include <ignition/math/Rand.hh>
 
namespace gazebo
{
namespace sensors
{
 
void MultiplicativeGaussianNoiseModel::SetCamera(rendering::CameraPtr _camera)
{
  // TODO empty until we find a way to utilize OpenGL for this
}
 
void MultiplicativeGaussianNoiseModel::ApplyFloat(float* _buffer, size_t _width, size_t _height, size_t _depth, const std::string& _pixelFormat)
{
  if (_pixelFormat == "FLOAT32")
  {
    for (size_t i = 0; i < _width * _height; ++i)
    {
      _buffer[i] *= static_cast<float>(
          ignition::math::Rand::DblNormal(this->mean, this->stdDev) + this->bias);
    }
  }
  else
    throw std::runtime_error("Unknown image pixel format.");
}
 
}
}