Gazebo深度相机深度图像噪声插件
作者：互联网
1. 代码来源：ethz的无人机模拟器gazebo插件
https://github.com/ethz-asl/rotors_simulator
2. 应用：
2.1 复制cpp代码和hpp代码进入src和include文件夹：gazebo_noisydepth_plugin和depth_noise_model命名的相关文件；
2.2 修改cmakelists.txt
需要加入Eigen包，修改后仍然出现了错误：
CMake Error at ...../.../CMakeLists.txt:40 (find_package):
By not providing "FindEigen.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Eigen", but
CMake did not find one.
Could not find a package configuration file provided by "Eigen" with any of
the following names:
EigenConfig.cmake
eigen-config.cmake
Add the installation prefix of "Eigen" to CMAKE_PREFIX_PATH or set
"Eigen_DIR" to a directory containing one of the above files. If "Eigen"
provides a separate development package or SDK, be sure it has been
installed.
-- Configuring incomplete, errors occurred!
See also "/home/xxx/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/xxx/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
经查，仍然需要将源代码中的/rotors_simulator/rotors_gazebo_plugins/cmake文件夹下的FindEigen.cmake复制到/catkin_ws/src/.../.../cmake/下，再经编译可以成功通过。
2.3 将插件放入模型，且加入相应的<>标签，可以看到噪声，但是噪声的具体效果待查。
3. 问题：
目前该源代码下的这份插件有Kinect和D435两种相机的噪声模型，准确性和普适性待查；
且该插件只提供了加入了噪声的深度image图像，没有点云topic生成。
标签：插件,cmake,Eigen,package,噪声,深度,Gazebo,find 来源： https://blog.csdn.net/hanmoge/article/details/122609986