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m-tartari / realsense_gazebo_description

Gazebo models for Intel RealSense D435, D435i and T265 cameras
Apache License 2.0
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Adding noise to depth and PC measurements #1

Open bmrocamora opened 3 years ago

bmrocamora commented 3 years ago

I'm trying to use your plugins but the Gaussian noise parameters of the depth sensor on _d435i.gazebo.xacro does not seem to have any effect on the measurements (depth image or point clouds). Any idea why?

m-tartari commented 3 years ago

Apparently, even though the SDF specification has the noise tag, Gazebo doesn't add it to depth camera images and just ignores the tag (I was not aware of that). Since the realsense_gazebo_plugin that this repo uses relies on the depth image to generate the PC, also the PC will have no noise.

Once I have time I will try to add a plugin to this repo (I cannot give you any time guarantees, it might take a while). Meanwhile, if noise is crucial for your application, you might consider adding peci1/gazebo_noisy_depth_camera to your project.