Tree Reconstructions fom Pointclouds Scanned in Pullenvale QLD

Tree Data for the paper Tree Reconstruction using Topology Optimisation\n\nThis repository contains the data presented in the results tables of the paper. The folders reflect each of the 21 cases and each folder contains the following files:\n\n1. A ray cloud (.ply) file representing the registered lidar data and coloured according to surface normal. This format is compatible with the RayCloudTools library https://github.com/csiro-robotics/raycloudtools and its format is detailed in the link's README.md. \n Points within 30 cm of the ground have been painted black as a flag to not apply a load at these points. The alpha value is set to zero on all unbounded rays, and these are also rendered as black. \n2. A mesh file (_mesh.ply) representing the ground surface. This was generated using the rayextract terrain function within the RayCloudTools library's experimental branch. \n3. The output BSG (_trees.txt) file. This is a simple comma-delimited description of the cylindrical segments of each tree, with a space separating each segment and a new line separating each tree. It is best to view this directly with word wrap off. \n4. A mesh file (_treemesh.ply) of the BSG for easy viewing. This file approximates each cylinder with a triangular mesh.\n5-7. Three images showing the topology optimisation process and outputs prior to BSG generation: An isometric illustration of the optimiser output at each iteration (.ply), a 2D image of the output from front and side view with a high density threshold (_views_thin.png), and the same image with a low threshold (_views_fat.png)\n\nAll .ply files can be viewed in packages such as Meshlab or Cloudcompare. The ray cloud rays can be viewed in Meshlab by enabling View Vertex Normals, and adjusting the overall length in its options settings.\nAll results are shown for the alpha=1 default branch angle. \nLineage: The rayclouds were acquired using Velodyne VLP16 LIDAR Scanners and registered into a pointcloud using Wildcat Slam. The scans were acquired around the CSIRO Pullenvale Site in 2021/2022\n\nThe pointcloud was segmented and ground mesh extracted using CSIRO's open source Raycloudtools software, and trees reconstructed using the method described in the accompanying paper.\n\nFurther details can be found in 'Tree Reconstruction using Topology Optimisation'