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AddNoisePURPOSE
Adds noise to a pose.
SYNOPSIS
function P2n=AddNoise(P1,P2,Sigma)
DESCRIPTION
Adds noise to a pose. Adds noise (with 0 mean and Sigma covariance) to P2. The noise is added corrupting the relative displacement between P1 and P2 (i.e., the noise is given in the space of relative displacement between poses). Returns: P2n: the noisy P2. See also Absolute2Relative. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function P2n=AddNoise(P1,P2,Sigma) 0002 % Adds noise to a pose. 0003 % 0004 % Adds noise (with 0 mean and Sigma covariance) to P2. 0005 % The noise is added corrupting the relative displacement between P1 and 0006 % P2 (i.e., the noise is given in the space of relative 0007 % displacement between poses). 0008 % 0009 % Returns: 0010 % P2n: the noisy P2. 0011 % 0012 % See also Absolute2Relative. 0013 0014 D=Absolute2Relative(P1,P2); 0015 P2n=Relative2Absolute(P1,AddNoise2Relative(D,Sigma)); 0016 |