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
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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 <http://www.gnu.org/licenses/>.
*/
// 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;
}

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

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