原始点云
添加噪声后点云std=0.01
话不多说,直接上程序:
#include <pcl/PCLPointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include "boost.h"
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
double default_standard_deviation = 0.01;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -sd X = the standard deviation for the normal distribution (default: ");
print_value ("%f", default_standard_deviation); print_info (")\n");
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud) < 0)
return (false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms: "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
double standard_deviation)
{
TicToc tt;
tt.tic ();
print_highlight ("Adding Gaussian noise with mean 0.0 and standard deviation %f\n", standard_deviation);
PointCloud<PointXYZ>::Ptr xyz_cloud (new pcl::PointCloud<PointXYZ> ());
fromPCLPointCloud2 (*input, *xyz_cloud);
PointCloud<PointXYZ>::Ptr xyz_cloud_filtered (new PointCloud<PointXYZ> ());
xyz_cloud_filtered->points.resize (xyz_cloud->points.size ());
xyz_cloud_filtered->header = xyz_cloud->header;
xyz_cloud_filtered->width = xyz_cloud->width;
xyz_cloud_filtered->height = xyz_cloud->height;
boost::mt19937 rng; rng.seed (static_cast<unsigned int> (time (0)));
boost::normal_distribution<> nd (0, standard_deviation);
boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor (rng, nd);
for (size_t point_i = 0; point_i < xyz_cloud->points.size (); ++point_i)
{
xyz_cloud_filtered->points[point_i].x = xyz_cloud->points[point_i].x + static_cast<float> (var_nor ());
xyz_cloud_filtered->points[point_i].y = xyz_cloud->points[point_i].y + static_cast<float> (var_nor ());
xyz_cloud_filtered->points[point_i].z = xyz_cloud->points[point_i].z + static_cast<float> (var_nor ());
}
pcl::PCLPointCloud2 input_xyz_filtered;
toPCLPointCloud2 (*xyz_cloud_filtered, input_xyz_filtered);
concatenateFields (*input, input_xyz_filtered, output);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms: "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
pcl::io::savePCDFile (filename, output);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms: "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Add Gaussian noise to a point cloud. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse the command line arguments for .pcd files
std::vector<int> p_file_indices;
p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (p_file_indices.size () != 2)
{
print_error ("Need one input PCD file and one output PCD file to continue.\n");
return (-1);
}
// Command line parsing
double standard_deviation = default_standard_deviation;
parse_argument (argc, argv, "-sd", standard_deviation);
// Load the first file
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
if (!loadCloud (argv[p_file_indices[0]], *cloud))
return (-1);
// Add the noise
pcl::PCLPointCloud2 output;
compute (cloud, output, standard_deviation);
// Save into the second file
saveCloud (argv[p_file_indices[1]], output);
}