CN106447767B - A kind of trunk parameter extracting method of the three-dimensional dry axial curve building of the trunk based on point cloud data - Google Patents
A kind of trunk parameter extracting method of the three-dimensional dry axial curve building of the trunk based on point cloud data Download PDFInfo
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Abstract
The invention discloses a kind of trunk parameter extracting method of three-dimensional dry axial curve building of the trunk based on point cloud data is provided, includes the following steps: step 1, calculate trunk in the cross section of specific location；Step 2, the geometric center point set of trunk is obtained；Step 3, the geometric center point of smooth trunk；Step 4, the dry axial curve of three-dimensional of trunk is constructed；Step 5, the dry axial curve of three-dimensional based on trunk extracts the parameter of trunk.The present invention is based on the parameters that the dry axial curve of three-dimensional of trunk extracts trunk, provide a kind of means for accurate description trunk form feature, provide technical support to extract the trunk parameter that trunk is located at an arbitrary position.
Description
Technical field
The present invention relates to the technologies that trunk parameter is extracted from trunk point cloud data, more particularly, to one kind based on point cloud number
According to the three-dimensional dry axial curve building of trunk trunk parameter extracting method.
Background technique
Three Dimensional Ground laser scanner technique (Terrestrial Laser Scanning Technology, abbreviation TLS) is
A kind of novel surveying and mapping technology, results from the 1990s.TLS can fast and accurately obtain the point cloud number of target object surface
It is believed that breath, so as to the threedimensional model of fast constructing target object.By the development over nearly more than 20 years, three-dimensional laser scanner
Continuously rapidly can carry out non-contact measurement to being observed object, by obtain body surface to scanner away from
From the three dimensional point cloud for obtaining voluminous object surface with emissive porwer.Extracting forestry relevant parameter using TLS is in the past 10 years
Research hotspot.
Forest is made of single tree wood, and in production of forestry and research, forest workers needs to extract single tree wood
The diameter of (abbreviation Dan Mu) and the high data of tree, the volume of timber and biomass, building wood growth equation etc. to calculate Dan Mu are studied
Basic data is provided with application.In tree surveying, by single ebon it is dry be reduced to central axis be straight line a geometry rotate
Body, and the calculation method of single ebon trepang number and the construction method of related trunk growth model are constructed based on this.However,
Trunk is not a regular solid, the bending and distortion of various degrees at trunk different location, by trunk letter
The true form variation of trunk can not be reflected by turning to rotary body, and the correlation model of the parameter and building that thus calculate is inevitable and true
There is a certain distance for real data.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of trunks based on point cloud data
The trunk parameter extracting method of three-dimensional dry axial curve building, the dry axial curve of three-dimensional to construct trunk, which reaches, extracts trunk correlation
The purpose of parameter.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of trunk parameter extracting method of the three-dimensional dry axial curve building of the trunk based on point cloud data, including walk as follows
It is rapid:
Step 1, trunk is calculated in the cross section of specific location；
Step 2, the geometric center point set of trunk is obtained；
Step 3, the geometric center point of smooth trunk；
Step 4, the dry axial curve of three-dimensional of trunk is constructed；
Step 5, the parameter of trunk is extracted based on the three-dimensional dry axial curve of trunk.
Preferably, the step 1 calculates trunk in the cross section of specific location, comprising:
The minimum point in trunk point cloud is calculated, and calculates the height of trunk based on the minimum point；
On the basis of minimum point, with vectorIt is default with h+ at the top h of minimum point for the normal vector of plane
Two planes constructed respectively at distance；Trunk point cloud among two planes constitutes a trunk point cloud mass, will set
It does and obtains a planar point in the plane that cloud mass point cloud projects at trunk height h and converge, Calculation Plane point converges composition
The center of mass point of convex closure polygon, the center of mass point are that the geometric center point that planar point converges and trunk trunk at height h are cross-section
The anchor point in face.
Preferably, the step 1 further include: trunk cross section of the trunk at height h is constructed by anchor point, comprising:
The direction of growth of the trunk at height h is calculated using alternative manner；Kth time iterative calculation are as follows: constructed anchor point
And normal vector isA plane, the plane be benchmark plane；The direction of growth of the trunk at height h is trunk in height
Spend the normal vector in the trunk cross section at h；
Based on datum plane, 5 planes parallel with this are constructed respectively, wherein 3 planes are located on datum plane
Side, 2 planes are located at below datum plane；
Obtain 5 trunk point cloud masses and 5 geometric center points；
The direction of growth of the trunk at height h is calculated using principal component analytical method to 5 geometric center pointsIts
In, the corresponding feature vector of the maximum eigenvalue of covariance matrix is the direction of growth of the trunk at height hPlane normal direction
Amount is assigned a value ofCarry out+1 iteration of kth；Normal vector is when first iterationIteration termination condition are as follows: it is adjacent twice
Two trunk directions of growth that iteration obtainsWithAngle thetakLess than 0.5 degree or θkWith θk+1Differential seat angle less than 0.5
Degree；The trunk direction of growth at the end of iterationThe as direction of growth of the trunk at height h；With life of the trunk at height h
Length direction is the normal vector of plane, constructs trunk cross section of the trunk at height h by anchor point.
Preferably, the step 2 obtains the geometric center point set of trunk, comprising:
With the geometric center point for the acquisition trunk that height h is segmentation, respectively upward region-by-region and downward region-by-region；
The geometric center point of trunk is obtained upwards: trunk being calculated in the region using region-by-region from height h
Geometric center point gradually obtains the geometric center point in next region based on the trunk direction of growth at height h upwards,
Until treetop part；
The geometric center point of trunk is obtained downwards: trunk being calculated in the region using region-by-region from height h
Geometric center point gradually obtains downwards the geometric center point in next region based on the trunk direction of growth at height h,
Until butt；
The calculating trunk geometric center point of region-by-region: it is tied according to the trunk direction of growth in previous region in previous region
The cross section of the position building trunk of beam, constructs multiple and trunk cross section parallel and adjacent to flat respectively then up or downwards
Distance between the surface is the plane of 0.5cm, obtains at cross-section piece of cloud of trunk point according to the cross section and multiple planes, the trunk point cloud
Cross-section piece of geometric center point is geometric center point of the trunk in this region.
Preferably, the step 3, the geometric center point of smooth trunk, comprising:
It is smoothly 1 trunk geometric center point that the trunk geometric center point that will acquire, which takes every 3 trunk geometric center points,
Operation, take the average value of the geometric coordinate of this 3 trunk geometric center points as the seat of smoothed out trunk geometric center point
Scale value.
Preferably, the step 4 constructs the dry axial curve of three-dimensional of trunk, comprising:
One closed curve for crossing trunk geometric center point is constructed using non-reasonable B-spline Curve, in the geometry of trunk
Interpolation point Q={ the Q of heart point composition curvek, k=0,1 ..., n calculate the node parameter values of interpolation point Q using chord length parameter methodEnabling d is total chord length,Parameter value is defined as:
Mean value method calculate node vector U={ u is used further according to node parameter values0,u0,...,um, have
Wherein, p=3 indicates the number of spline curve, n=| Q | indicate the number of interpolation point, m=n+p-1；
On the basis of obtaining node parameter values and knot vector, non-reasonable three are solved using the method for global curve interpolation
The control point of secondary B-spline curves obtains the system of linear equations that coefficient matrix is (n+1) × (n+1):
Wherein, Ni,p(u) it is expressed as
Solve system of equation obtains n+1 control point { Pi, according to the expression formula of non-reasonable B-spline Curve:
A full curve is obtained, which is the dry axial curve of three-dimensional of trunk.
Preferably, the parameter of the trunk includes positioning trunk cross section, trunk diameter, basal area, tree length, inclination angle, song
Rate and torsion.
The beneficial effects of the present invention are:
The present invention is located in trunk cross section at trunk height h according to trunk point cloud, obtains the geometric center point set of trunk
It closes, on the basis of positioning trunk cross section, constructs the dry axial curve of three-dimensional of trunk, which is a non-reasonable cubic B-spline
Curve and full curve with second dervative, the dry axial curve of three-dimensional based on trunk extract the parameter of trunk, are accurate description
Trunk form feature provides a kind of means, provides technical support to extract the trunk parameter that trunk is located at an arbitrary position.
The dry point cloud data of single ebon that TLS scanning obtains has contained the geometry data of Dan Mu, this is true for building trunk
Real geometrical model provides data basis.For the variation tendency for really reflecting trunk form, the present invention pushes away trunk central axis
Three-dimensional space is extensively arrived, to construct a full curve in three dimensions as the center curve of trunk, referred to as the three of trunk
Dry axial curve is tieed up, and thus positions the cross section of trunk, extract trunk diameter and basal area, the curvature by calculating three-dimensional curve
Bending and the degreeof tortuosity of trunk are described with torsion.The precision for extracting trunk parameter from TLS has been increased to millimeter by the present invention
Grade, meets the required precision of forestry survey.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is the schematic diagram for positioning trunk cross section.
Fig. 3 is the schematic diagram for extracting trunk geometric center point downwards upwards from trunk height h.
Fig. 4 is the dry axial curve schematic diagram of three-dimensional of trunk geometric center point and trunk.
Fig. 5 is the dry axial curve schematic diagram of three-dimensional of trunk.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, the present invention provides a kind of trunk parameter of three-dimensional dry axial curve building of the trunk based on point cloud data
Extracting method includes the following steps:
Step 1, trunk is calculated in the cross section of specific location；
Step 2, the geometric center point set of trunk is obtained；
Step 3, the geometric center point of smooth trunk；
Step 4, the dry axial curve of three-dimensional of trunk is constructed；
Step 5, the parameter of trunk is extracted based on the three-dimensional dry axial curve of trunk.
In the embodiment, trunk cross section at trunk height h is located according to trunk point cloud, is obtained for extracting trunk ginseng
The geometric center point set of several acquisition trunks constructs the dry axial curve of three-dimensional of trunk on the basis of positioning trunk cross section, should
Curve is a non-reasonable B-spline Curve and the full curve with second dervative, the dry axial curve of three-dimensional based on trunk
The parameter of trunk is extracted, provides a kind of means for accurate description trunk form feature, trunk is extracted and locates at an arbitrary position
Trunk parameter provides technical support.
In one embodiment, the step 1 calculates trunk in the cross section of specific location, comprising:
According to the coordinate value of z-axis, calculate the minimum point in trunk point cloud, and by this put based on calculate the height of trunk；
On the basis of minimum point, with vectorFor the normal vector of plane, distinguish at the top h of minimum point with h+0.5 centimeters
The plane of two planes of building, the place trunk height h is as shown in Figure 2, lower plane when dotted line 2 be calculating anchor point, puts and 1 is
Anchor point, dotted line 3 are cross section of the trunk at height h, and arrow direction is the normal vector in trunk cross section.
Trunk point cloud in two planes constitutes a trunk point cloud mass, this partial dot cloud is projected to trunk height
A planar point is obtained in plane at degree h to converge, and calculates the center of mass point that this planar point converges the convex closure polygon of composition, mass center
The point geometric center point that i.e. planar point converges thus, while being also the anchor point in trunk trunk cross section at height h；Trunk exists
The direction of growth at height h is the normal vector in trunk cross section of the trunk at height h.
Growing method of the trunk at height h, kth time iterative calculation are as follows: constructed anchor point are calculated using alternative manner
And normal vector isA plane, this plane is referred to as benchmark plane, based on datum plane, construct respectively 5 it is flat with this
Capable plane, wherein 3 planes are located above datum plane, 2 planes are located at datum plane lower section, and between adjacent plane away from
From being 0.5 centimetre；Thus 5 trunk point cloud masses and 5 geometric center points are obtained, to 5 geometric center points using principal component point
Analysis method calculates the direction of growth of the trunk at height hWherein, the corresponding feature of the maximum eigenvalue of covariance matrix to
Amount is the direction of growth of the trunk at height hPlanar process vector assignment isCarry out+1 iteration of kth；This iterative strategy
In first iteration, normal vector isIteration termination condition are as follows: two trunk growth sides that adjacent iteration twice obtains
ToWithAngle thetakLess than 0.5 degree or θkWith θk+1Differential seat angle less than 0.5 degree；Trunk growth side at the end of iteration
ToThe as direction of growth of the trunk at height h；Using the direction of growth of the trunk at height h as the normal vector of plane, pass through
Anchor point constructs trunk cross section of the trunk at height h.
In one embodiment, the step 2 obtains the geometric center point set of trunk, comprising:
Difference upward (downward) to treetop (butt) region-by-region (5 trunk point cloud masses) mentions from height h
Take the geometric center point of trunk.The method that upward region-by-region obtains trunk geometric center point is that building trunk first is at height h
Trunk cross section, 5 planes parallel with it are then constructed above this trunk cross section, the distance between adjacent plane is
0.5 centimetre, be 0.5 centimetre at a distance from adjacent plane to trunk cross section with trunk cross section, is located at this 5 planes and trunk
Trunk point cloud between cross section forms cross-section piece of point cloud of 5 trunks, thus obtains 5 geometric center points of this region trunk；
Trunk is calculated in the direction of growth in this region, then with the trunk direction of growth in this region by data of this 5 geometric center points
The geometric center point in next region is calculated, is calculated in the manner described above until treetop is partially completed from height h to treetop portion
The calculating for the geometric center point divided.Because similar with process is drawn up downwards, only direction is different, be not described in detail herein to
The lower process for extracting trunk geometric center point.As shown in figure 3, dotted line 1 indicates cross section of the trunk at h, arrow 2 indicates upward
Trunk geometric center point is extracted, arrow 3 indicates to extract trunk geometric center point downwards.
In one embodiment, the distance obtained in step 3 between the adjacent plane of trunk geometric center point is 0.5 centimetre,
The trunk geometric center point comparatively dense that step 3 obtains.The form variation of trunk has continuity, but irregular because of trunk surface
Property, the adjacent geometric center point in the front and back obtained using the above method is although very close to but if in conjunction with stem form on
From the point of view of the position of other geometric center points, the relationship between continuous center of mass point not can accurately reflect the continuity of trunk.Thus
It needs to do smoothing processing to the geometric center point of trunk.Specific method is to take every 3 to the trunk geometric center point that step 3 obtains
A geometric center point is smoothly the operation of 1 geometric center point, takes the average value conduct of the geometric coordinate of this 3 geometric center points
The coordinate value of smoothed out geometric center point.
In one embodiment, it according to smoothed out trunk geometric center point, constructs one and crosses trunk geometric center point
Full curve, this curve are known as the dry axial curve of three-dimensional of trunk.The step 4 constructs the dry axial curve of three-dimensional of trunk, comprising:
One closed curve for crossing trunk geometric center point, the geometry of trunk are constructed using non-reasonable B-spline Curve
Interpolation point Q={ the Q of central point composition curvek, k=0,1 ..., n are joined using the node that chord length parameter method calculates interpolation point Q
Numerical valueEnabling d is total chord length,Parameter value is defined as:
Mean value method calculate node vector U={ u is used further according to node parameter values0,u0,...,um, have
Wherein, p=3 indicates the number of spline curve, n=| Q | indicate the number of interpolation point, m=n+p-1；
On the basis of obtaining node parameter values and knot vector, non-reasonable three are solved using the method for global curve interpolation
The control point of secondary B-spline curves obtains the system of linear equations that coefficient matrix is (n+1) × (n+1):
Wherein, Ni,p(u) it is expressed as
Solve system of equation obtains n+1 control point { Pi, according to the expression formula of non-reasonable B-spline Curve:
A full curve is obtained, which is the dry axial curve of three-dimensional of trunk.
As shown in figure 4, black thicker point in the middle position (a) is geometric center point, (b) connect with the middle position (c) black
Continuous curve is the dry axial curve of three-dimensional of trunk, (c) in polygon represent trunk cross section, be (d) that the trunk three-dimensional of duplication is dry
Axial curve.From fig. 4, it can be seen that trunk geometric center point is respectively positioned on the center of trunk, the trunk constructed on this basis
Three-dimensional dry axial curve can preferably reflect the consecutive variations trend of trunk, and the trunk cross section constructed on this basis is perpendicular to tree
Do current position.It can not only preferably reflect the continuous-changing features of trunk form, and there is preferable visual effect.
In one embodiment, the relevant parameter for extracting trunk based on the three-dimensional dry axial curve of trunk includes, trunk cross section,
Trunk diameter, basal area, tree length, inclination angle, curvature, torsion.As shown in figure 5, the dry axial curve of three-dimensional for the trunk that the present invention constructs
It is a non-reasonable B-spline Curve, is that the full curve with second dervative can be obtained according to the expression formula of C (u)
C ' (u), C (u) to C (u) in curve any position.Wherein direction determined by C ' (u) is that trunk is horizontal at this position
Therefore the normal vector of section can position cross section that trunk is located at an arbitrary position (such as according to the equation of the three-dimensional dry axial curve of trunk
Shown in Fig. 4 (c)).If C (u) corresponding u parameter at a certain position is u0, then the three-dimensional dry axial curve of trunk is on this position
Point is represented by C (u0), corresponding curve single order tangent vector is expressed as C ' (u0), then the equation in trunk cross section is represented by (p-
C(u0))·C′(u0)=0.In the case where trunk cross section determines, the trunk point cloud in the cross section of trunk is obtained, and thus survey
Trunk diameter is measured, and then trunk cross section basal area is estimated according to trunk diameter.According to single order tangent vector C ' (u0), tree can be calculated
Do the angle (as shown in Fig. 3) in current position and horizontal plane.It is the three-dimensional dry axis of trunk that the length of trunk, which can be approximately considered,
Length of a curve.Curvature and torsion are reflection bending degree of the curve in two-dimensional space and distortion journey in three dimensions
Degree, trunk can be approximately considered in the bending of specific location and degreeof tortuosity be the three-dimensional dry axial curve of trunk curvature and torsion.
According to the calculation formula of the curvature of parameter curve:
And the calculation formula of torsion:
Obtain the song that trunk is located at an arbitrary position
Rate and torsion.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, this field is common
Other modifications or equivalent replacement that technical staff makes technical solution of the present invention, without departing from technical solution of the present invention
Spirit and scope, be intended to be within the scope of the claims of the invention.
Claims (2)
1. a kind of trunk parameter extracting method of the three-dimensional dry axial curve building of the trunk based on point cloud data, it is characterised in that: packet
Include following steps:
Step 1, trunk is calculated in the cross section of specific location；
Step 2, the geometric center point set of trunk is obtained；
Step 3, the geometric center point of smooth trunk；
Step 4, the dry axial curve of three-dimensional of trunk is constructed；
Step 5, the dry axial curve of three-dimensional based on trunk extracts the parameter of trunk；
The step 1 calculates trunk in the cross section of specific location, comprising:
The minimum point in trunk point cloud is calculated, and calculates the height of trunk based on the minimum point；
On the basis of minimum point, with vectorFor the normal vector of plane, at the top h of minimum point with (h+ it is default away from
From) at construct two planes respectively；Trunk point cloud among two planes constitutes a trunk point cloud mass, by trunk point
It obtains a planar point in the plane that cloud mass point cloud projects at trunk height h to converge, Calculation Plane point converges the convex closure of composition
The center of mass point of polygon, the center of mass point are geometric center point and trunk the trunk cross section at height h that planar point converges
Anchor point；
Trunk cross section of the trunk at height h is constructed by anchor point, comprising:
The direction of growth of the trunk at height h is calculated using alternative manner；Kth time iterative calculation are as follows: constructed anchor point and method
Vector isA plane, the plane be benchmark plane；The direction of growth of the trunk at height h is trunk in height h
The normal vector in the trunk cross section at place；
Based on datum plane, 5 planes parallel with this are constructed respectively, wherein 3 planes are located above datum plane, 2
A plane is located at below datum plane；Thus 5 trunk point cloud masses and 5 geometric center points are obtained；
The direction of growth of the trunk at height h is calculated using principal component analytical method to 5 geometric center pointsWherein, association side
The corresponding feature vector of the maximum eigenvalue of poor matrix is the direction of growth of the trunk at height hPlanar process vector assignment isCarry out+1 iteration of kth；Normal vector is when first iterationIteration termination condition are as follows: adjacent iteration twice obtains
Two trunk directions of growthWithAngle thetakLess than 0.5 degree or θkWith θk+1Differential seat angle less than 0.5 degree；Iteration knot
Trunk direction of growth when beamThe as direction of growth of the trunk at height h；It is with the direction of growth of the trunk at height h
The normal vector of plane constructs trunk cross section of the trunk at height h by anchor point；
The step 2 obtains the geometric center point set of trunk, comprising:
It is segmentation with height h, distinguishes upward region-by-region to treetop position and downward region-by-region to butt position acquisition trunk
Geometric center point；
The geometric center point of trunk is obtained upwards: trunk being calculated in the geometry in the region using region-by-region from height h
Central point gradually obtains the geometric center point in next region based on the trunk direction of growth at height h upwards, until
Treetop part；
The geometric center point of trunk is obtained downwards: trunk being calculated in the geometry in the region using region-by-region from height h
Central point gradually obtains downwards the geometric center point in next region based on the trunk direction of growth at height h, until
Butt；
The calculating trunk geometric center point of region-by-region: terminated according to the trunk direction of growth in previous region in previous region
Position constructs the cross section of trunk, constructs multiple and trunk cross section respectively then up or downwards parallel and adjacent to interplanar
Distance is the plane of 0.5cm, obtains at cross-section piece of cloud of trunk point according to the cross section and multiple planes, the trunk point cloud is cross-section
The geometric center point of block is geometric center point of the trunk in this region；
The step 3, the geometric center point of smooth trunk, comprising:
It is smoothly the behaviour of 1 trunk geometric center point that the trunk geometric center point that will acquire, which takes every 3 trunk geometric center points,
Make, takes the average value of the geometric coordinate of this 3 trunk geometric center points as the coordinate value of smoothed out trunk geometric center point；
The step 4 constructs the dry axial curve of three-dimensional of trunk, comprising:
One closed curve for crossing trunk geometric center point, trunk geometric center point are constructed using non-reasonable B-spline Curve
Constitute the interpolation point Q={ Q of curvek, k=0,1 ..., n calculate the node parameter values of interpolation point Q using chord length parameter methodEnabling d is total chord length,Wherein, node parameter valuesIs defined as:
Then mean value method calculate node vector { u is used according to node parameter valuesj}；
Obtaining node parameter valuesWith knot vector { ujOn the basis of, have using the method solution of global curve interpolation is non-
Manage the control point { P of B-spline Curvei, obtain the system of linear equations that coefficient matrix is (n+1) × (n+1):
Wherein, Ni,p(x) iterative calculation method are as follows:
Wherein, p indicates the number of spline curve, and p=3；
Solve system of equation obtains n+1 control point { Pi, according to the expression formula of non-reasonable B-spline Curve:
A full curve is obtained, which is the dry axial curve of three-dimensional of trunk.
2. a kind of trunk parameter extraction of the three-dimensional dry axial curve building of trunk based on point cloud data according to claim 1
Method, it is characterised in that: the parameter of the trunk includes positioning trunk cross section, trunk diameter, basal area, tree length, inclination angle, song
Rate and torsion.
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| CN103175484A (en) * | 2012-12-17 | 2013-06-26 | 谢鸿宇 | Crown measuring method based on three-dimensional laser scanning system |
| CN104392476A (en) * | 2014-12-04 | 2015-03-04 | 上海岩土工程勘察设计研究院有限公司 | Method of extracting three-dimensional axis of tunnel based on minimum bounding box algorithm |
| CN104457626A (en) * | 2014-12-08 | 2015-03-25 | 中国科学院合肥物质科学研究院 | Plant leaf area index measurement method based on laser radar point cloud technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103175484A (en) * | 2012-12-17 | 2013-06-26 | 谢鸿宇 | Crown measuring method based on three-dimensional laser scanning system |
| CN104392476A (en) * | 2014-12-04 | 2015-03-04 | 上海岩土工程勘察设计研究院有限公司 | Method of extracting three-dimensional axis of tunnel based on minimum bounding box algorithm |
| CN104457626A (en) * | 2014-12-08 | 2015-03-25 | 中国科学院合肥物质科学研究院 | Plant leaf area index measurement method based on laser radar point cloud technology |
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