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"))
Add isotropic Gaussian noise N(0, sigma) to each point (mimicking sensor position noise).
sigma is the standard deviation in world units (user-specified parameter). If clip is given, each component of the displacement is truncated to [-clip, clip] (suppressing outlying displacements). For large N the noise has mean≈0 and standard deviation≈sigma. The return value has the same shape as the input, (N,3).
• sigma < 0 raises ValueError. sigma == 0 or empty input returns a copy of the input.
• clip, if given, must be > 0 (anything else raises ValueError). Truncation is per component, so
the length of a displacement vector is at most √3·clip.
• Deterministic with seed (np.random.default_rng(seed)). Same seed and same shape give the same noise.
• Input must be (N,3) finite values only (a 1-D array of length 3 is promoted to 1 point; anything else, or NaN, raises
ValueError). The return value is float64.
• When measuring the noise robustness of registration (register_fpfh etc.), choosing sigma as a ratio to the point spacing
(e.g. the grid width of voxel_grid_downsample) makes conditions easier to compare.
• 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.
• augment_pointcloud — py -3.11 examples_3d/augment_pointcloud.py
points as input)points_to_voxel · gaussians_to_voxel · estimate_point_normals · to_points · match_points_ncc · match_pca · moment_axes · icp_point2point_3d
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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.