jitter — 3D `augment` op

• Data kinds: points → points

• Call: import fullseye as fs; fs.ledger.jitter(points, sigma: 'float', clip: 'Optional[float]' = None, seed: 'int' = 0) -> 'np.ndarray' (to call the implementation directly, import pcl_augment; pcl_augment.jitter(points, sigma: 'float', clip: 'Optional[float]' = None, seed: 'int' = 0) -> 'np.ndarray'; from the registry, ops3d.get("jitter"))

Usage

Add isotropic Gaussian noise `N(0, sigma)` to each point (mimicking sensor position noise).

> The detailed description below is the original text — the summary and the headings are translated.

`sigma はワールド単位の標準偏差(ユーザ指定パラメータ)。clip` を与えると

各成分の変位を `[-clip, clip]` に切り詰める(外れ変位の抑制)。大 N ではノイズの

平均≈0・標準偏差≈sigma となる。返り値は入力と同形状 `(N,3)`。

• `sigma < 0 は ValueError。sigma == 0` または空入力は入力のコピーを返す。

• `clip は与えるなら > 0(それ以外は ValueError`)。切り詰めは成分ごとなので

変位ベクトルの長さは最大 `√3·clip`。

• `seed で決定論的(np.random.default_rng(seed)`)。同 seed・同形状なら同じノイズ。

• 入力は `(N,3)` の有限値のみ(長さ 3 の 1-D は 1 点に昇格、それ以外や NaN は

`ValueError`)。返り値は float64。

• 位置合わせ(`register_fpfh 等)のノイズ耐性を測るとき、sigma` を点間隔

(`voxel_grid_downsample` の格子幅など)に対する比で決めると条件を比較しやすい。

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

Runnable examples (verified samples that actually call this op)

• augment_pointcloud — py -3.11 examples_3d/augment_pointcloud.py

Ops the type connects to (they accept `points` as input)

points_to_voxel · gaussians_to_voxel · estimate_point_normals · to_points · match_points_ncc · match_pca · moment_axes · icp_point2point_3d

Same category (`augment`)

random_rotation · random_scale · random_dropout · elastic_deform · cutout

*Provenance: pcl_augment.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

jitter — 3D augment op