c++ pcl点云变换骨架枝干添加树叶源码实例

程序示例精选
c++ pcl点云变换骨架枝干添加树叶源码实例
如需安装运行环境或远程调试，见文章底部个人QQ名片，由专业技术人员远程协助！

前言

这篇博客针对《c++ pcl点云变换骨架枝干添加树叶源码实例》编写代码，代码整洁，规则，易读。 学习与应用推荐首选。

---

运行结果

***

文章目录

一、所需工具软件
二、使用步骤
       1. 主要代码
       2. 运行结果
三、在线协助

一、所需工具软件

       1. VS2019, Qt
       2. C++

二、使用步骤

代码如下（示例）：

/*
*	Copyright (C) 2019 by
*       Shenglan Du (dushenglan940128@163.com)
*       Liangliang Nan (liangliang.nan@gmail.com)
*       3D Geoinformation, TU Delft, https://3d.bk.tudelft.nl
*
*	This file is part of AdTree, which implements the 3D tree
*   reconstruction method described in the following paper:
*   -------------------------------------------------------------------------------------
*       Shenglan Du, Roderik Lindenbergh, Hugo Ledoux, Jantien Stoter, and Liangliang Nan.
*       AdTree: Accurate, Detailed, and Automatic Modeling of Laser-Scanned Trees.
*       Remote Sensing. 2019, 11(18), 2074.
*   -------------------------------------------------------------------------------------
*   Please consider citing the above paper if you use the code/program (or part of it).
*
*	AdTree is free software; you can redistribute it and/or modify
*	it under the terms of the GNU General Public License Version 3
*	as published by the Free Software Foundation.
*
*	AdTree is distributed in the hope that it will be useful,
*	but WITHOUT ANY WARRANTY; without even the implied warranty of
*	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
*	GNU General Public License for more details.
*
*	You should have received a copy of the GNU General Public License
*	along with this program. If not, see .
*/
// save the smoothed skeleton into a PLY file (where each vertex has a radius)
void save_skeleton(Skeleton* skeleton, PointCloud* cloud, const std::string& file_name) {
	const ::Graph& sgraph = skeleton->get_smoothed_skeleton();
	if (boost::num_edges(sgraph) == 0) {
		std::cerr << "failed to save skeleton (no edge exists)" << std::endl;
		return;
	}

	// convert the boost graph to Graph (avoid modifying easy3d's GraphIO, or writing IO for boost graph)

	std::unordered_map<SGraphVertexDescriptor, easy3d::Graph::Vertex>  vvmap;
	easy3d::Graph g;

	auto vertexRadius = g.add_vertex_property<float>("v:radius");
	auto vts = boost::vertices(sgraph);
	for (SGraphVertexIterator iter = vts.first; iter != vts.second; ++iter) {
		SGraphVertexDescriptor vd = *iter;
		if (boost::degree(vd, sgraph) != 0) { // ignore isolated vertices
			const vec3& vp = sgraph[vd].cVert;
			auto v = g.add_vertex(vp);
			vertexRadius[v] = sgraph[vd].radius;
			vvmap[vd] = v;
		}
	}

	auto egs = boost::edges(sgraph);
	for (SGraphEdgeIterator iter = egs.first; iter != egs.second; ++iter) {
		SGraphEdgeDescriptor ed = *iter;    // the edge descriptor
		SGraphEdgeProp ep = sgraph[ed];   // the edge property

		SGraphVertexDescriptor s = boost::source(*iter, sgraph);
		SGraphVertexDescriptor t = boost::target(*iter, sgraph);
		g.add_edge(vvmap[s], vvmap[t]);
	}

	auto offset = cloud->get_model_property<dvec3>("translation");
	if (offset) {
		auto prop = g.model_property<dvec3>("translation");
		prop[0] = offset[0];
	}

	if (GraphIO::save(file_name, &g))
        std::cout << "model of skeletons saved to: " << file_name << std::endl;
    else
		std::cerr << "failed to save the model of skeletons into file" << std::endl;
}


// returns the number of processed input files.
int batch_reconstruct(std::vector<std::string>& point_cloud_files, const std::string& output_folder, bool export_skeleton) {
    int count(0);
    for (std::size_t i=0; i<point_cloud_files.size(); ++i) {
        const std::string& xyz_file = point_cloud_files[i];
        std::cout << "------------- " << i + 1 << "/" << point_cloud_files.size() << " -------------" << std::endl;
        std::cout << "processing xyz_file: " << xyz_file << std::endl;

        if (!file_system::is_directory(output_folder)) {
            if (file_system::create_directory(output_folder))
                std::cout << "created output directory '" << output_folder << "'" << std::endl;
            else {
                std::cerr << "failed creating output directory" << std::endl;
                return 0;
            }
        }

        // load point_cloud
        PointCloud *cloud = PointCloudIO::load(xyz_file);
        if (cloud) {
            std::cout << "cloud loaded. num points: " << cloud->n_vertices() << std::endl;

            // compute bbox
            Box3 box;
            auto points = cloud->get_vertex_property<vec3>("v:point");
            for (auto v : cloud->vertices())
                box.add_point(points[v]);

            // remove duplicated points
            const float threshold = box.diagonal() * 0.001f;
            const auto &points_to_remove = RemoveDuplication::apply(cloud, threshold);
            for (auto v : points_to_remove)
                cloud->delete_vertex(v);
            cloud->garbage_collection();
            std::cout << "removed too-close points. num points: " << cloud->n_vertices() << std::endl;
        }
        else {
            std::cerr << "failed to load point cloud from '" << xyz_file << "'" << std::endl;
            continue;
        }

        // reconstruct branches
        SurfaceMesh *mesh = new SurfaceMesh;
        const std::string &branch_filename = file_system::base_name(cloud->name()) + "_branches.obj";
        mesh->set_name(branch_filename);

        Skeleton *skeleton = new Skeleton();
        bool status = skeleton->reconstruct_branches(cloud, mesh);
        if (!status) {
            std::cerr << "failed in reconstructing branches" << std::endl;
            delete cloud;
            delete mesh;
            delete skeleton;
            continue;
        }

        // copy translation property from point_cloud to surface_mesh
        SurfaceMesh::ModelProperty<dvec3> prop = mesh->add_model_property<dvec3>("translation");
        prop[0] = cloud->get_model_property<dvec3>("translation")[0];

        // save branches model
        const std::string branch_file = output_folder + "/" + branch_filename;
        if (SurfaceMeshIO::save(branch_file, mesh)) {
            std::cout << "model of branches saved to: " << branch_file << std::endl;
            ++count;
        }
        else
            std::cerr << "failed to save the model of branches" << std::endl;

        if (export_skeleton) {
            const std::string& skeleton_file = output_folder + "/" + file_system::base_name(cloud->name()) + "_skeleton.ply";
            save_skeleton(skeleton, cloud, skeleton_file);
        }

        delete cloud;
        delete mesh;
        delete skeleton;
    }

    return count;
}


int main(int argc, char *argv[]) {
//    argc = 2;
//    argv[1] = "/Users/lnan/Projects/adtree/data";
//    argv[2] = "/Users/lnan/Projects/adtree/data-results";

    if (argc == 1) {
        TreeViewer viewer;
        viewer.run();
        return EXIT_SUCCESS;
    } else if (argc >= 3) {
        bool export_skeleton = false;
        for (int i = 0; i < argc; ++i) {
            if (strcmp(argv[i], "-s") == 0 || strcmp(argv[i], "-skeleton") == 0) {
                export_skeleton = true;
                break;
            }
        }

        if (export_skeleton) {
            std::cout << "You have requested to save the reconstructed tree skeleton(s) in PLY format into the output directory." << std::endl;
            std::cout << "The skeleton file(s) can be visualized using Easy3D: https://github.com/LiangliangNan/Easy3D" << std::endl;
        }
        else
            std::cout << "Tree skeleton(s) will not be saved (append '-s' or '-skeleton' in commandline to enable it)" << std::endl;

        std::string first_arg(argv[1]);
        std::string second_arg(argv[2]);
        if (file_system::is_file(second_arg))
            std::cerr << "WARNING: second argument cannot be an existing file (expecting a directory)." << std::endl;
        else {
            std::string output_dir = second_arg;
            if (file_system::is_file(first_arg)) {
                std::vector<std::string> cloud_files = {first_arg};
                return batch_reconstruct(cloud_files, output_dir, export_skeleton) > 0;
            } else if (file_system::is_directory(first_arg)) {
                std::vector<std::string> entries;
                file_system::get_directory_entries(first_arg, entries, false);
                std::vector<std::string> cloud_files;
                for (const auto &file_name : entries) {
                    if (file_name.size() > 3 && file_name.substr(file_name.size() - 3) == "xyz")
                        cloud_files.push_back(first_arg + "/" + file_name);
                }
                return batch_reconstruct(cloud_files, output_dir, export_skeleton) > 0;
            } else
                std::cerr
                        << "WARNING: unknown first argument (expecting either a point cloud file in *.xyz format or a\n"
                           "\tdirectory containing *.xyz point cloud files)." << std::endl;
        }
    }
    return EXIT_FAILURE;
}


1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212

运行结果

三、在线协助：

如需安装运行环境或远程调试，见文章底部个人 QQ 名片，由专业技术人员远程协助！

1）远程安装运行环境，代码调试
2）Visual Studio, Qt, C++, Python编程语言入门指导
3）界面美化
4）软件制作
5）云服务器申请
6）网站制作

当前文章连接：https://blog.csdn.net/alicema1111/article/details/132666851
个人博客主页：https://blog.csdn.net/alicema1111?type=blog
博主所有文章点这里：https://blog.csdn.net/alicema1111?type=blog

博主推荐：
Python人脸识别考勤打卡系统：
https://blog.csdn.net/alicema1111/article/details/133434445
Python果树水果识别：https://blog.csdn.net/alicema1111/article/details/130862842
Python+Yolov8+Deepsort入口人流量统计：https://blog.csdn.net/alicema1111/article/details/130454430
Python+Qt人脸识别门禁管理系统：https://blog.csdn.net/alicema1111/article/details/130353433
Python+Qt指纹录入识别考勤系统：https://blog.csdn.net/alicema1111/article/details/129338432
Python Yolov5火焰烟雾识别源码分享：https://blog.csdn.net/alicema1111/article/details/128420453
Python+Yolov8路面桥梁墙体裂缝识别：https://blog.csdn.net/alicema1111/article/details/133434445