##

GaussianNoiseModel Class Reference

Gaussian noise class. More...

`#include <GaussianNoiseModel.hh>`

Inherits Noise.

Inherited by ImageGaussianNoiseModel.

## 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)
| Apply noise to input data value. More...
double | ApplyImpl (double _in)
| Apply noise to input data value. More...
virtual void | Fini ()
| Finalize the noise model. More...
double | GetBias () const
| Accessor for bias. 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...

## 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 | ) |

inherited

Apply noise to input data value.

Parameters

  [in] | _in | Input data value.

Returns
  Data with noise applied.

## ApplyImpl()

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 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.

## 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 | ) |

virtual inherited

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 inherited

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.

## 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