depth noise model

[seann999]

I was looking through the code and was curious about the depth noise model.
I found this:
https://github.com/ToyotaResearchInstitute/simnet/blob/main/simnet/lib/camera.py
but I can't seem to find camera_noise. Is it in the repository?

[kevinleestone]

We haven't published the simulator at this time (which includes the camera noise models for RGB and Depth modalities). We hope to open source it in a future work, but for now this may be a helpful starting point:

• For RGB we implemented the pipeline from Unprocessing Images for Learned Raw Denoising.
• For Depth we implemented a fairly standard RGB-D noise pipeline. You can refer to A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM for inspiration.