Method and device for streamlining apple leaf point cloud
A point cloud simplification and blade technology, applied in instrumentation, computing, image data processing, etc., can solve problems such as voids, loss of detailed features, and inapplicability to apple leaves.
Active Publication Date: 2020-11-10
CHINA AGRI UNIV
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Problems solved by technology
[0005] In order to overcome the problem that the existing point cloud simplification method has serious loss of detail features and holes, and is not suitable for apple leaves, the present invention provides a method and device for simplification of apple leaf point cloud
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[0064] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0065] Such as figure 1 As shown, it is a schematic flow chart of a method for streamlining apple leaf point clouds provided by an embodiment of the present invention, including:
[0066] S1, using a 3D laser scanning device to obtain spatial 3D information of apple leaves, and performing denoising processing on the spatial 3D information to obta...
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The present invention provides a method and an apparatus for simplifying the point cloud of the apple leaf. The method comprises: using a bounding box method to perform fast K-nearest neighbor search,establishing a kd-tree space storage structure of the point cloud, setting different thresholds to identify the point cloud boundary of the leaf and extracting the point cloud boundary of the leaf; and by calculating the normal vector, the curvature, and the like of the feature parameters of the point, calculating neighborhood point position information, distinguishing feature points and non-feature points, and further carrying out simplification processing on the non-feature points. According to the technical scheme of the present invention, boundary point clouds and non-boundary point clouds can be quickly and conveniently obtained, and a simplification result can be further obtained; during the process, different K values and multiple thresholds can be set according to requirements, the obtained point result accuracy is relatively high, the calculation process is convenient and the calculation method is reasonable, the obtained point result accuracy is suitable for automatic programming, the waste of computer resources is effectively reduced, and the operating efficiency can be improved to some extent.
Description
technical field [0001] The invention relates to the technical field of three-dimensional modeling of plant objects in computer graphics and virtual agriculture, and more specifically, to a method and device for streamlining apple leaf point clouds. Background technique [0002] The morphological structure and spatial distribution of fruit tree leaves directly affect the quality and yield of fruit. The analysis and three-dimensional reconstruction of the morphological structure of fruit tree leaves can provide a theoretical basis for the calculation of canopy illumination distribution and fruit tree pruning. Scholars at home and abroad have carried out a lot of work on the 3D reconstruction and visualization of plant leaves. With the increase in the production quantity and the reduction of the price of 3D laser scanning equipment, it can be gradually applied to the field of plant modeling, and the expression of plant spatial information is accurate. And fast. [0003] Large-...
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IPC IPC(8): G06T17/10
CPCG06T17/10G06T2210/36
Inventor 刘刚张伟洁郭彩玲
Owner CHINA AGRI UNIV