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Depth image noise #630

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pauljurczak opened this issue Sep 27, 2020 · 2 comments
Closed

Depth image noise #630

pauljurczak opened this issue Sep 27, 2020 · 2 comments

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@pauljurczak
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pauljurczak commented Sep 27, 2020 •
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Until a while ago, there was no noise added to depth images other than some small 3D geometry artifacts. Recently, I noticed a significant noise added to depth data from VGA RGBD camera on X3 and DS1 robots. Is this an intentional improvement in simulation realism across all RGBD and ToF cameras?
@angelacmaio
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Support for RGBD noise was added with: gazebosim/gz-rendering#122
As a result, the noise parameters that have always resided in this repo became supported for improved realism.

@zbynekwinkler
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It would have been nice if such a major change was mentioned at https://github.com/osrf/subt/wiki/release_notes

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@zbynekwinkler @pauljurczak @angelacmaio