Algorithm 1.

Leaf point cloud completion.

INPUT: Pleaf - Leaf point cloud pf - Leaf tip point proot - Root point OUTPUT: Pcomplete - completed leaf point cloud

function symmetry(Pleaf, pf, proot)

2:      for all p such that p ∈ Pleaf do

if (yp − yroot)(yf − yroot) − (xp − xroot)(xf − xroot) > 0 then     Pl ← p ;

4:       else Pr ← p ;

end if

6:     end for

δ = 2 × (|Pl| − |Pr|)/(|Pl| + |Pr|) ;

8:     if δ > μ then Pc = Pl ;

else if δ < −μ then Pc = Pr ;

10:     else return Pleaf ;

end if

12:    Ps ← points obtained by symmetrizing Pc     according to the line pf and proot ;

Pleaf = Pleaf + Ps ;

14:    Pnext ← ns p with the shortest distance to proot,     p ∈ Pc ;

while Pnext ≠ ∅ do

16:         pcurrent = p(min(p, line(proot, p(f))), p ∈ Pnext) ;

Phole ← pcurrent ;

18:         Pnext = ∅ ;

for all p such that |p, proot| > |pcurrent, proot|,      |p, pcurrent| < r, p ∈ Pc do Pnext←p ;

20:         end for

end while

22:     for all p such that p ∈ Phole do Uniformly     sampled ground between p and the point of     symmetry of p ;

end for

24:         return result

end function