def _add_noise()

in tacto/renderer.py [0:0]

• 9 lines of code
• 4 McCabe index (conditional complexity)

    def _add_noise(self, color):
        """
        Add Gaussian noise to the RGB image
        :param color:
        :return:
        """
        # Add noise to the RGB image
        mean = self.conf.sensor.noise.color.mean
        std = self.conf.sensor.noise.color.std

        if mean != 0 or std != 0:
            noise = np.random.normal(mean, std, color.shape)  # Gaussian noise
            color = np.clip(color + noise, 0, 255).astype(
                np.uint8
            )  # Add noise and clip

        return color