PCL 添加噪声

添加高斯噪声

#include //标准输入输出流
#include <pcl/io/pcd_io.h> //PCL的PCD格式文件的输入输出头文件
#include <pcl/point_types.h> //PCL对各种格式的点的支持头文件
#include <pcl/point_cloud.h>
#include <pcl/visualization/cloud_viewer.h>//点云查看窗口头文件
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/random.hpp>
#include <pcl/console/time.h>

int main(int argc, char** argv)
{

std::cout << "读取文件" << std::endl;

pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ); // 创建点云（指针）

if (pcl::io::loadPCDFilepcl::PointXYZ("E:\ data\ 12.pcd", cloud) == -1) // 读入PCD格式的文件，如果文件不存在，返回-1
{
PCL_ERROR("Couldn't read file test_pcd.pcd \n"); //文件不存在时，返回错误，终止程序。
system("pause");
return (-1);
}
std::cout << "正确查找文件" << std::endl;

//添加高斯噪声
pcl::PointCloudpcl::PointXYZ::Ptr cloudfiltered(new pcl::PointCloudpcl::PointXYZ());
cloudfiltered->points.resize(cloud->points.size());//将点云的cloud的size赋值给噪声
cloudfiltered->header = cloud->header;
cloudfiltered->width = cloud->width;
cloudfiltered->height = cloud->height;

boost::mt19937 rng;
rng.seed(static_cast(time(0)));
boost::normal_distribution<> nd(0, 2);
boost::variate_generator<boost::mt19937&, boost::normal_distribution<>> var_nor(rng, nd);

//添加噪声
for (size_t point_i = 0; point_i < cloud->points.size(); ++point_i)
{
cloudfiltered->points[point_i].x = cloud->points[point_i].x + static_cast (var_nor());
cloudfiltered->points[point_i].y = cloud->points[point_i].y + static_cast (var_nor());
cloudfiltered->points[point_i].z = cloud->points[point_i].z + static_cast (var_nor());
}

pcl::visualization::PCLVisualizer viewer("Cloud Viewer");

//设置颜色为绿色
pcl::visualization::PointCloudColorHandlerCustompcl::PointXYZ singleColor(cloud, 0, 255, 0);
//往窗口添加点云并设置颜色，原图为cloud 添加后为 cloudfiltered，记得改
viewer.addPointCloud(cloud, singleColor, "cloud");
//添加点云后，通过点云ID来设置显示大小
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
//重置相机，将点云显示到窗口
viewer.resetCamera();

while (!viewer.wasStopped())
{
viewer.spinOnce();
}
return (0);
}

结果图对比