Automatic Segmentation for Plant Leaves via Multiview Stereo Reconstruction

Algorithm 2

The region growing algorithm for point cloud segmentation.

Input: Point cloud = , point normals , residuals , neighbor finding function , residual threshold , angle threshold

Output: Leaf point cloud

(1) Initialize Region List , Available points list

(2)   while is not empty do

(3) Current region , Current seeds

(4) Point with minimum residual in

(5) 

(6) 

(7)   for to size () do

(8)  Find nearest neighbors of current seed point

(9)    for to size () do

(10)    Current neighbor point

(11)     if contains and

(12)    then  

(13)      if

(14)      then

(15)      end-if

(16)   end-if

(17)  end-for

(18) end-for

(19) Add current region to global segment list

(20) end- while

(21) Sort according to the size of the region.

(22) Return