More realistic pointcloud noise model

[richardrl]

The pointclouds from the built-in pyBullet camera are quite clean. How do I get more realistic noise, such that these pointclouds look closer to real pointcloud cameras?

[atirehgram]

Hi, how do you get the point clouds?

[rohit-kumar-j]

@atirehgram See #4049

[rohit-kumar-j]

@richardrl you could add noise once the data is captured. This could simulate the noise of the real point cloud capture.
Something like a + or - 5% perhaps...

new_reading = []
for i in range(len(reading)):
    read_w_err = reading[i] + (0.05*reading[i])
    new_reading.append(read_w_err)