#include <ImageIO.h>

Public Member Functions
	DepthNoiseSimulator (const std::string &noise_model_path)
	Constructor. More...

geometry::Image	Simulate (const geometry::Image &im_src, float depth_scale=1000.0)
	Apply noise model to a depth image. More...

core::Tensor	GetNoiseModel () const
	Return the noise model. More...

void	EnableDeterministicDebugMode ()
	Enable deterministic debug mode. All normally distributed noise will be replaced by 0. More...

Detailed Description

Simulate depth image noise from a given noise distortion model. The distortion model is based on Teichman et. al. "Unsupervised intrinsic calibration of depth sensors via SLAM" RSS 2009. Also see Redwood dataset

Constructor & Destructor Documentation

◆ DepthNoiseSimulator()

open3d::t::io::DepthNoiseSimulator::DepthNoiseSimulator ( const std::string & noise_model_path )

explicit

Constructor.

Parameters

noise_model Path to the noise model file. See http://redwood-data.org/indoor/dataset.html for the format. Or, you may use one of our example datasets, e.g., RedwoodIndoorLivingRoom1.

Member Function Documentation

◆ EnableDeterministicDebugMode()

void open3d::t::io::DepthNoiseSimulator::EnableDeterministicDebugMode ( )

inline

Enable deterministic debug mode. All normally distributed noise will be replaced by 0.

◆ GetNoiseModel()

core::Tensor open3d::t::io::DepthNoiseSimulator::GetNoiseModel ( ) const

inline

Return the noise model.

◆ Simulate()

geometry::Image open3d::t::io::DepthNoiseSimulator::Simulate	(	const geometry::Image &	im_src,
		float	depth_scale = `1000.0`
	)

Apply noise model to a depth image.