IMHO the easiest way to do it should be use the camera interface to get frames in your own program without modifying Gazebo (link with libgazebo).

On Wed, Feb 27, 2008 at 7:05 PM, Renaud Barate <renaud.barate@ensta.fr> wrote:

Hello,

The rendering of the frames is done by the Ogre rendering system when
calling root->renderOneFrame() in OgreAdaptor::Render(). It might be
possible to write a GLSL shader to add some gaussian noise during the render
phase. In this case it would be hardware accelerated but this could be quite
difficult.

The other solution is to apply the gaussian noise after the render phase. If
you grab the images through libgazebo or through player, you can do this
directly in your application or at the end of CameraSensor::GetImageData()
method.

Renaud


sotios wrote:
>
> Dear all,
>
> I want to add Gaussian noise and also implement some tracking algorithms,
> but I cannot find the seed/file that produces the pixels/frames of the
> camera model in Gazebo.
>
> If anyone knows, please inform me.
>
> many thanks,
> soto
>

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Jordi Polo Carres
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