PCL：实现点云包围球内添加均匀分布的随机噪声（附完整源码）

    cpp
    #include <iostream>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/kdtree/kdtree_flann.h>
    #include <pcl/filters/random_sample.h>
    #include <random>
    
    int main(int argc, char** argv)
    {
    // 读取点云数据
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile<pcl::PointXYZ>("input_cloud.pcd", *cloud);
    
    // 计算点云包围球
    pcl::PointXYZ min_pt, max_pt;
    pcl::getMinMax3D(*cloud, min_pt, max_pt);
    pcl::PointXYZ center((min_pt.x + max_pt.x) / 2, (min_pt.y + max_pt.y) / 2, (min_pt.z + max_pt.z) / 2);
    float radius = pcl::euclideanDistance(center, max_pt);
    
    // 添加随机噪声
    std::random_device rd;
    std::mt19937 gen(rd());
    std::uniform_real_distribution<float> dist(-radius, radius);
    
    for (pcl::PointXYZ& point : cloud->points)
    {
        float dx = dist(gen);
        float dy = dist(gen);
        float dz = dist(gen);
    
        point.x += dx;
        point.y += dy;
        point.z += dz;
    }
    
    // 保存带有噪声的点云数据
    pcl::io::savePCDFile<pcl::PointXYZ>("noisy_cloud.pcd", *cloud);
    
    return 0;
    }
    
    
    
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
    
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