##

Noise Class Reference
Sensors

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)
| Apply noise to input data value. More...
virtual double | ApplyImpl (double _in)
| 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...

## 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 | ) |

Apply noise to input data value.

Parameters

  [in] | _in | Input data value.

Returns
  Data with noise applied.

## ApplyImpl()

virtual double ApplyImpl | ( | double | _in | ) |

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.

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