Add noise to RGBD camera

[iche033]

Depends on gazebosim/gz-rendering#122

Applies noise to an RGBD camera sensor. The actual noise implementation is done in the ign-rendering pull request

Signed-off-by: Ian Chen ichen@osrfoundation.org

[codecov]

Codecov Report

Merging #35 into ign-sensors2 will decrease coverage by 0.26%.
The diff coverage is 42.85%.

@@               Coverage Diff                @@
##           ign-sensors2      #35      +/-   ##
================================================
- Coverage         80.25%   79.99%   -0.27%     
================================================
  Files                21       21              
  Lines              2046     2059      +13     
================================================
+ Hits               1642     1647       +5     
- Misses              404      412       +8     

Impacted Files	Coverage Δ
src/RgbdCameraSensor.cc	74.78% <33.33%> (-2.29%)	⬇️
src/Noise.cc	76.92% <100.00%> (+0.36%)	⬆️

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[peci1]

It's good to have this finally implemented. However, it seems to me that multiplicative Gaussian noise would be much closer to reality than additive in the depth measurements. Of course, the real error model would be even more complicated, but I used multiplicative Gaussian noise for depth and it seemed okay...