Possible noise model for depth image

[Astik-2002]

@JacopoPan is it possible to add some kind of a sensor model, that adds noise to the depth image? I found this repo https://github.com/ankurhanda/simkinect where noise is added to a rendered depth map, but the code requires disparity computation, which is hard to do as in pybullet we just have a single depth image (unlike a stereo camera with two rgb images, separated by a distance). Can you share if there's any other way to add noise to the image so that it's more alike to depth image from cameras like zed2 or intel realsense?

[Astik-2002]

Also, can you share the limits of acceleration/deceleration for the base crazyflie model used in the simulation?

[JacopoPan]

In CtrlAviary, RPMs are capped by self.MAX_RPM and the thrust of each of the 4 motors is equal to rpm^2 * self.KF, so you can compute the maximum thrust from there

the depth frame is created here, you can add noise there

gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py

Lines 615 to 616 in 3d7b12e

	dep = np.reshape(dep, (h, w))
	seg = np.reshape(seg, (h, w))