Adding noise to camera

[LatiosInAltoMare]

Hi OmniGibson team,

Thanks for your splendid work!

I would like to ask how to add noise to simulate breakdown of camera, like add Gaussian blur to the camera.

What I have tried:

I have read the macro.py file to find whether there're macros about adding noise but I didn't find that.

Then I read the sensor_noise_bases website and tried to inheritage the sensor_noise_base.py, and tried to load the scene, but it doesn't work. The python script are as follows:

import omnigibson as og
import cv2
import numpy as np
import torch
from omnigibson.sensors.sensor_noise_base import BaseSensorNoise
from omnigibson import lazy
from omnigibson.macros import gm

class BlurSensorNoise(BaseSensorNoise):
    def __init__(self, kernel_size=5, sigma=1.0, **kwargs):
        super().__init__(**kwargs)
        self.kernel_size = kernel_size
        self.sigma = sigma
        self.enabled=True

    def _corrupt(self, obs):

        if hasattr(obs, "detach"):
            obs_np = obs.detach().cpu().numpy()
        else:
            obs_np = np.array(obs)
        obs_np = np.array(obs_np, dtype=np.float32)

        obs_uint8 = (obs_np * 255).astype(np.uint8)

        blurred = cv2.GaussianBlur(obs_uint8, (self.kernel_size, self.kernel_size), self.sigma)

        blurred = blurred.astype(np.float32) / 255.0

        if hasattr(obs, "detach"):
            blurred = torch.tensor(blurred, device=obs.device)
        return blurred

gm.REMOTE_STREAMING = "native"
gm.HEADLESS = True

cfg = dict()
cfg["env"] = {
    "device": "cpu",
}
cfg["scene"] = {
    "type": "InteractiveTraversableScene",
    "scene_model": "Rs_int",
    "floor_plane_visible": True,
}
cfg["objects"] = [
    {
        "type": "USDObject",
        "name": "ghost_stain",
        "usd_path": f"{gm.ASSET_PATH}/models/stain/stain.usd",
        "category": "stain",
        "visual_only": True,
        "scale": [1.0, 1.0, 1.0],
        "position": [1.0, 2.0, 0.001],
        "orientation": [0, 0, 0, 1.0],
    },
]
cfg["robots"] = [
    {
        "type": "Fetch",
        "name": "skynet_robot",
        "obs_modalities": ["rgb", "depth"],
        "default_arm_pose": "diagonal30",
        "default_reset_mode": "tuck",
        "sensors": {
            "rgb": {
                "sensor_noise": {
                    "type": "BlurSensorNoise", 
                    "kernel_size": 5,
                    "sigma": 1.0,
                    "enabled": True,
                }
            }
        },
    },
]

env = og.Environment(cfg)

og.sim.enable_viewer_camera_teleoperation()

while True:
    og.sim.step()

Thanks!