I am using the blob omnidirectional camera of footbot. I want to add noise to the simulation using the noise_std_dev XML attribute. I am struggling to understand the way in which noise is added.
I found this code in colored_blob_omnidirectional_camera_rotzonly_sensor.cpp:
Code: Select all
/* If noise was setup, add it */
if(m_fDistanceNoiseStdDev > 0.0f) {
m_cLEDRelativePosXY += CVector2(
m_cLEDRelativePosXY.Length() * m_pcRNG->Gaussian(m_fDistanceNoiseStdDev),
m_pcRNG->Uniform(CRadians::UNSIGNED_RANGE));
}