def _get_cameramodel(self, noise=True):
params = self.cameraparams
cameramodel = CameraModel(self.resolution, params)
cameramodel.update_point_cloud(self.mod.points)
points2d = cameramodel.points2d
if noise:
points2d = self._add_noise(points2d)
points2d = self._do_missclassifcation(points2d)
cameramodel.points2d = points2d
return cameramodel
