C++实现点云添加高斯噪声功能

#include "add_gauss_noise.h"

int main()
{
	//-------------------加载点云-------------------
	pcl::PointCloud<pcl::PointXYZ> cloud_in;
	if (pcl::io::loadPCDFile("Armadillo.pcd", cloud_in) < 0)
	{
		PCL_ERROR("->点云文件不存在！\a\n");
		system("pause");
		return -1;
	}

	//-------------------添加高斯噪声-------------------
	AddGaussNoise agn;							//创建高斯噪声对象agn
	pcl::PointCloud<pcl::PointXYZ> cloud_out;	//保存结果的点云
	agn.setInputCloud(cloud_in);				//设置输入点云
	agn.setParameters(0,2);						//设置高斯噪声参数mu,sigma
	agn.addGaussNoise(cloud_out);				//执行添加高斯噪声，并将结果保存在cloud_out中
	
	//-------------------保存添加高斯噪声后的点云-------------------
	pcl::io::savePCDFileBinary("addGaussNoise.pcd", cloud_out);

	return 0;
}

#pragma once
#include <iOStream>
#include <pcl/io/pcd_io.h>
#include <boost/random.hpp>		//随机数所需头文件

class AddGaussNoise
{
public:

	
	void setInputCloud(pcl::PointCloud<pcl::PointXYZ> &cloud_in);

	
	void setParameters(double mu = 0.0, double sigma = 1.0);

	
	void addGaussNoise(pcl::PointCloud<pcl::PointXYZ> &cloud_out);
private:

	pcl::PointCloud<pcl::PointXYZ> m_cloud_in;		//输入点云
	bool is_setInputCloud = false;					//是否设置输入点云
	double m_mu, m_sigma;							//高斯分布参数
	bool is_setParameters = false;					//是否设置高斯分布参数
};

#include "add_gauss_noise.h"


void AddGaussNoise::setInputCloud(pcl::PointCloud<pcl::PointXYZ> &cloud_in)
{
	m_cloud_in = cloud_in;
	is_setInputCloud = true;
}


void AddGaussNoise::setParameters(double mu, double sigma)
{
	if (sigma > 0)
	{
		m_mu = mu;
		m_sigma = sigma;
		is_setParameters = true;
	}
	else
	{
		PCL_ERROR("->sigma应大于0！\a\n");
		system("pause");
		abort();
	}
}


void AddGaussNoise::addGaussNoise(pcl::PointCloud<pcl::PointXYZ> &cloud_out)
{
	boost::mt19937 zgy;								//等分布均匀伪随机数发生器
	zgy.seed(static_cast<unsigned int>(time(0)));	//随机种子
	boost::nORMal_distribution<> nd(m_mu, m_sigma);	//定义正态分布，均值为mu，标准差为sigma
	boost::variate_generator<boost::mt19937&, boost::normal_distribution<>> gauss_noise(zgy, nd);	//生成高斯噪声

	pcl::PointCloud<pcl::PointXYZ> cloud_gauss;	//声明高斯噪声点云
	cloud_gauss = m_cloud_in;					//将原始点云拷贝给高斯噪声点云，用于下面的平移				

	for (size_t i = 0; i < cloud_gauss.size(); i++)
	{
		cloud_gauss.points[i].x += static_cast<float> (gauss_noise());
		cloud_gauss.points[i].y += static_cast<float> (gauss_noise());
		cloud_gauss.points[i].z += static_cast<float> (gauss_noise());
	}

	cloud_out = m_cloud_in + cloud_gauss;	//将原始点云与噪声点云合并，得到添加高斯噪声后的点云
}