Cloudcompare & PCL point cloud randomly adds noise

One 、 brief introduction

Randomly select a certain number of points in the cloud , Randomly offset it by a certain distance along the direction of the normal vector , In this way, the noise points of point cloud entities can be obtained , The magnitude of the offset is related to the scale of the point cloud , The offset distance follows Gaussian distribution .

Two 、 Implementation code

For related configurations, please refer to the article https://blog.csdn.net/dayuhaitang1/article/details/124503487 Non plug-in basic configuration in , Only the core code is shown here ：

void MainWindow::AddNoisy()
{