• No results found

Point cloud rigid registration and stitching

4 Part III: 3-D reconstruction of maize plants using a time-of-flight camera

4.2.3 Data processing

4.2.3.3 Point cloud rigid registration and stitching

b. Zrábteba `c oa cltra`a y rckestrg

-

- @cs`c co @cs`c co mgmcltg cl quc mgmcltg cl quc co Ducz co Ducz abucr`c oa abucr`c oa cltra`a y rckecltra`a y rckestrg cl buaoqstrg cl buaoquecr c`eiebuecr c`eiebeg g oukar eg g oukar bcrra`g,bcrra`g, a`gptará oas mc`e`as `c vekeoalbea bglvclecltcs para cvetar oa iuka `co prgbcsa`g g oa sustrabbeòl a`gptará oas mc`e`as `c vekeoalbea bglvclecltcs para cvetar oa iuka `co prgbcsa`g g oa sustrabbeòl `c ogs elstrumcltgs, cicbtgs `co `coetg, oehrgs, papcocs g buaocsquecra gtras bgsas quc fayal `c scr `c ogs elstrumcltgs, cicbtgs `co `coetg, oehrgs, papcocs g buaocsquecra gtras bgsas quc fayal `c scr ghdctg `co rckestrg (art. 39; OCBre).

ghdctg `co rckestrg (art. 39; OCBre). -

- Zrabteba`as oas `eZrabteba`as oas `eoekclbeas altcregrcs, oekclbeas altcregrcs, sc prgbc`crá a sc prgbc`crá a oa cltra`a y oa cltra`a y rckestrg, cmpocal`g rckestrg, cmpocal`g para coog, para coog, sese iucrc lcbcsareg, co auxeoeg `c oa iucrza (art. 396

-

- Co rckestrg sc Co rckestrg sc fará a prcsclbefará a prcsclbea `co a `co eltcrcsa`g, g `c eltcrcsa`g, g `c oa pcrsgla qoa pcrsgla quc ockítemamcltc uc ockítemamcltc oc rcprcscltc.oc rcprcscltc. »

» Re aquco Re aquco lg iucrc lg iucrc fahe`g g fahe`g g lg quesecrc lg quesecrc bglburrer le bglburrer le lgmhrar rcprcscltaltc, sc lgmhrar rcprcscltaltc, sc prabtebará aprabtebará a prcsclbea `c ul el`eve`ug `c su iameoea, mayg

prcsclbea `c ul el`eve`ug `c su iameoea, maygr `c c`a`.r `c c`a`. »

» Re lg Re lg oc fuhecrcoc fuhecrc, sc , sc fará a fará a prcsclbea `c prcsclbea `c 8 tcstekgs, 8 tcstekgs, vcbelgs `co vcbelgs `co mesmg puchog.mesmg puchog. Co rckestrg

Co rckestrg sc prabtebsc prabtebará secmprc ará secmprc cl prccl prcsclbea `co sclbea `co Octra`g `c Octra`g `c oa A`melestroa A`melestrabeòl `c abeòl `c Dustebea Dustebea `co`co  Duzka`g

 Duzka`g g g PrehulPrehulao ao quc quc og og fuhecra fuhecra autgreautgreza`g, za`g, g g `co `co Octra`Octra`g g `c `c oa oa A`melesA`melestrabeòtrabeòl l `c `c DustebeaDustebea `co scrvebeg `c kuar`ea quc oc sustetuya, quecl ocvaltará abta `co rcsuota`g, `c oa `eoekclbea y `c `co scrvebeg `c kuar`ea quc oc sustetuya, quecl ocvaltará abta `co rcsuota`g, `c oa `eoekclbea y `c sus elbe`clbeas y quc scrá ierma`a pgr tg`gs ogs asestcltcs. Lg ghstaltc, cl basg `c lcbcse`a`, co sus elbe`clbeas y quc scrá ierma`a pgr tg`gs ogs asestcltcs. Lg ghstaltc, cl basg `c lcbcse`a`, co Octra`g `c oa A`melestrabeòl `c Dustebea pg`rá scr sustetue`g cl oa igrma prcvesta cl oa OGZD. Octra`g `c oa A`melestrabeòl `c Dustebea pg`rá scr sustetue`g cl oa igrma prcvesta cl oa OGZD. Oa rcsestclbea

Oa rcsestclbea `co eltcrc`co eltcrcsa`g, oa sa`g, oa `c su `c su rcprcscltaltc, rcprcscltaltc, `c ogs `c ogs el`eve`ugs `c el`eve`ugs `c oa iameoa iameoea y oea y `c ogs `c ogs tcstekgstcstekgs a prcsclbear co rckestrg, prg`uberá oa rcspglsaheoe`a` `cboara`a cl co BZ a ogs rcgs `co `coetg `c a prcsclbear co rckestrg, prg`uberá oa rcspglsaheoe`a` `cboara`a cl co BZ a ogs rcgs `co `coetg `c `csghc`eclbea kravc a oa Autgre`a`, sel

`csghc`eclbea kravc a oa Autgre`a`, sel pcrduebeg `c quc oa `eoekclbea sc prabtequc.pcrduebeg `c quc oa `eoekclbea sc prabtequc. Re lg

Re lg sc clbgltrascl sc clbgltrascl oas pcoas pcrsglas u rsglas u ghdctgs quc ghdctgs quc sc husqusc husqucl le cl le aparcbecscl aparcbecscl el`ebegs sgspcbfgsgs, el`ebegs sgspcbfgsgs, scsc cxpc`erá ula bcrteiebabeòl `co abtg a oa

cxpc`erá ula bcrteiebabeòl `co abtg a oa partc eltcrcsa`a se oa rcboamarc (art. 395 partc eltcrcsa`a se oa rcboamarc (art. 395 OCBre).OCBre). -

- Bual`g co rcBual`g co rckestrg sc prabtequc kestrg sc prabtequc cl co `gmebeoecl co `gmebeoeg `c ul g `c ul partebuoar y cxpepartebuoar y cxperc co `ía rc co `ía sel fahcrsc tcrme-sel fahcrsc tcrme- la`g, co quc og faka rcqucrerá ao eltcrcsa`g g a su rcprcscltaltc, se cstuvecrc prcscltc, para quc la`g, co quc og faka rcqucrerá ao eltcrcsa`g g a su rcprcscltaltc, se cstuvecrc prcscltc, para quc pcrmeta oa bglteluabeòl `uraltc oa lgbfc. Re sc gpusecrc, sc suspcl`crá oa `eoekclbea (saovg se oa pcrmeta oa bglteluabeòl `uraltc oa lgbfc. Re sc gpusecrc, sc suspcl`crá oa `eoekclbea (saovg se oa urkclbea oa febecrc lcbcsarea), bcrral`g y scooal`g co ogbao g ogs muchocs cl quc fuhecrc `c bglte- urkclbea oa febecrc lcbcsarea), bcrral`g y scooal`g co ogbao g ogs muchocs cl quc fuhecrc `c bglte- luarsc, cl bualtg csta prcbaubeòl sc bglse`crc lcbcsarea para cvetar oa iuka `c oa pcrsgla g oa luarsc, cl bualtg csta prcbaubeòl sc bglse`crc lcbcsarea para cvetar oa iuka `c oa pcrsgla g oa sustrabbeòl `c oas bgsas quc sc husbarcl.

sustrabbeòl `c oas bgsas quc sc husbarcl. Zrcvcl`rá asemesmg

Zrcvcl`rá asemesmg co quc co quc prabtequc prabtequc co rckestrg co rckestrg a ogs a ogs quc sc quc sc faoocl cl faoocl cl co c`eieco c`eiebeg g beg g oukar `c oukar `c oa `eoe-oa `eoe- kclbea, quc lg ocvaltcl ogs scoogs, le vegocltcl oas

kclbea, quc lg ocvaltcl ogs scoogs, le vegocltcl oas bcrra`uras, le pcrmetal quc og fakal bcrra`uras, le pcrmetal quc og fakal gtras pcrsg-gtras pcrsg- las, hadg oa rcspglsaheoe`a` cstahocbe`a cl

las, hadg oa rcspglsaheoe`a` cstahocbe`a cl co BZ (art. 3;: OCBre).co BZ (art. 3;: OCBre). -

- Co rckestrg lg Co rckestrg lg sc suspcl`crá selg sc suspcl`crá selg pgr co tepgr co tecmpg cl qucmpg cl quc lg iucrc c lg iucrc pgsehoc bglteluaroc, pgsehoc bglteluaroc, y sc a`gptarál,y sc a`gptarál, `uraltc oa suspclseòl, oas mc`e`as

`uraltc oa suspclseòl, oas mc`e`as `c vekeoalbea a quc sc rciecrc co artíbuog 39; `c vekeoalbea a quc sc rciecrc co artíbuog 39; (art. 3;1 OCBre).(art. 3;1 OCBre). -

- Cl oa `eoCl oa `eoekclbea `c ekclbea `c cltra`a y rckestrg cltra`a y rckestrg cl oukar cl oukar bcrra`g, sc cxprcbcrra`g, sc cxprcsarál ogs lgmhrcs `co sarál ogs lgmhrcs `co Ducz, g Ducz, g `c su`c su `cocka`g, quc oa prabtequc y `c oas `cmás pcrsglas quc eltcrvclkal, ogs elbe`cltcs gburre`gs, oa `cocka`g, quc oa prabtequc y `c oas `cmás pcrsglas quc eltcrvclkal, ogs elbe`cltcs gburre`gs, oa fgra cl quc sc fuhecsc prelbepea`g y bglboue`g oa `eoekclbea, oa rcoabeòl `co rckestrg pgr co gr`cl fgra cl quc sc fuhecsc prelbepea`g y bglboue`g oa `eoekclbea, oa rcoabeòl `co rckestrg pgr co gr`cl bgl quc sc faka, así bgmg ogs rcsuota`gs ghtcle`gs (art. 3;8OCBre).

bgl quc sc faka, así bgmg ogs rcsuota`gs ghtcle`gs (art. 3;8OCBre).

C.

C.

Xckestrg Xckestrg `c `c oehrgs oehrgs y y papcocspapcocs

a. Prametabeòl

a. Prametabeòl

Co Ducz gr`clará rcbgkcr ogs elstrumcltgs y cicbtgs `co `coetg y tamheål ogs oehrgs, papcocs g buaocs- Co Ducz gr`clará rcbgkcr ogs elstrumcltgs y cicbtgs `co `coetg y tamheål ogs oehrgs, papcocs g buaocs- quecra gtras bgsas quc sc fuhecscl clbgltra`g, se cstg iucrc lcbcsareg para co rcsuota`g `co sumareg. quecra gtras bgsas quc sc fuhecscl clbgltra`g, se cstg iucrc lcbcsareg para co rcsuota`g `co sumareg. Re co quc ogs rctclka sc lckarc a su cxfehebeòl, scrá bgrrcke`g bgl muota> bual`g elsestecra cl su lcka- Re co quc ogs rctclka sc lckarc a su cxfehebeòl, scrá bgrrcke`g bgl muota> bual`g elsestecra cl su lcka- teva, se co ghdctg g papco iucrcl `c empgrtalbea y

teva, se co ghdctg g papco iucrcl `c empgrtalbea y oa íl`goc `co `coetg og abglscdarc, scrá prgbcsa`g bgmoa íl`goc `co `coetg og abglscdarc, scrá prgbcsa`g bgmgg autgr `co `c `csghc`eclbea a oa Autgre`a`, saovg se mcrcbecra oa baoeiebabeòl ockao `c clbuhre`gr g autgr `co `c `csghc`eclbea a oa Autgre`a`, saovg se mcrcbecra oa baoeiebabeòl ockao `c clbuhre`gr g rcbcpta`gr.

rcbcpta`gr.

Rcrá apoebahoc ao rckestrg `c papcocs y cicbtgs og cstahocbe`g cl ogs artíbuogs 338 y 395 `c oa OCBre4 Rcrá apoebahoc ao rckestrg `c papcocs y cicbtgs og cstahocbe`g cl ogs artíbuogs 338 y 395 `c oa OCBre4 -

- Ao prabtebar Ao prabtebar ogs rckestrgs ogs rckestrgs `chcrál cvetarsc `chcrál cvetarsc oas elspcbbeglcs oas elspcbbeglcs elôteocs, prgbural`g elôteocs, prgbural`g lg pcrdu`ebar lg pcrdu`ebar lele empgrtular ao eltcrcsa`g más `c og lcbcsareg, y sc a`gptarál tg`g kålcrg `c prcbaubeglcs para empgrtular ao eltcrcsa`g más `c og lcbcsareg, y sc a`gptarál tg`g kålcrg `c prcbaubeglcs para lg bgmprgmctcr su rcputabeòl, rcspctal`g sus scbrctgs se lg eltcrcsarcl a oa elstrubbeòl (art. 338 lg bgmprgmctcr su rcputabeòl, rcspctal`g sus scbrctgs se lg eltcrcsarcl a oa elstrubbeòl (art. 338 OCBre).

c`etgreao

c`etgreao   }           }        bcpbcp

151151

-

- Co rckestrg Co rckestrg sc fará sc fará a prcsclbea a prcsclbea `co eltcrc`co eltcrcsa`g, g sa`g, g `c oa`c oa pcrsgla quc ockítemamcltc oc rcprcscltc (art. 395 OCBre) Re pcrsgla quc ockítemamcltc oc rcprcscltc (art. 395 OCBre) Re para `ctcrmelar sghrc oa lcbcse`a` `c rcbgkcr oas bgsas quc para `ctcrmelar sghrc oa lcbcse`a` `c rcbgkcr oas bgsas quc sc fuhecscl clbgltra`g cl co rckestrg iucrc lcbcsareg aokôl sc fuhecscl clbgltra`g cl co rckestrg iucrc lcbcsareg aokôl rcbglgbemecltg pcrebeao, sc abgr`ará cl co abtg

rcbglgbemecltg pcrebeao, sc abgr`ará cl co abtg pgr co Ducz.pgr co Ducz.

Related documents