How to add noise to vision sensor

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zhy149
Posts: 132
Joined: 14 Apr 2021, 20:18

How to add noise to vision sensor

Post by zhy149 »

Hello, if I want to minimize transfer learning from simulation to the real world, I may need to add some noise like lighting or perception to simulate a real-world setting. Is this necessary and if I can do this? Thank you very much!

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: How to add noise to vision sensor

Post by coppelia »

Hello,

you can add noise after reading an image via sim.getVisionSensorImg (or sim.getVisionSensorCharImage). If the change needs to be displayed in CoppeliaSim, you can set the modified image via sim.setVisionSensorImg (or sim.setVisionSensorCharImage). From within CoppeliaSim, e.g. in Lua, this can be quite slow, so you better handle the image processing from a plugin, or an external application, e.g. via the ZeroMQ remote API.

Cheers

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