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To characterize the plant architecture and growth, a 3d camera is mounted on a robotic arm with 5 DOF, the camera is moved along 3 translation axis with the CNC controller and a bracket system gives rotations around 2 axis.

Control of the camera

The camera is moved along a circular path on 100 points and images are sampled at point. The TOF sensor gives 2 types of information: phase information is related to depth and amplitude information is related to confidence of the depth estimate. These images are merged with RGB sensor data to produce a coloured point cloud using the fundamental matrix of the camera. This transformation can either be given (to some precision) by the manufacturer or estimated using a calibration patterns.

Pan/Tilt camera bracket