PROTOLIDAR (version 0.1)

Extract_plant_grapevine_function: Extract vine plant from the entire dataset.

Description

The function cut the plant at fixes values of x,y and z. Where x is width, y is height and z is front view or path of the tractor.

Usage

Extract_plant_grapevine_function(x, y, z, zdistance, miny, maxy, minx, maxx, minz, maxz)

Arguments

x

the width of the plant measured with LIDAR scan in cm.

y

the height of the plant measured with LIDAR scan in cm.

z

the front of the plant or path of the tractor measured with LIDAR scan in cm.

zdistance

the z distance of LIDAR scan measured in cm.

miny

the minimum height at which we cut the plant measured in cm.

maxy

the maximum height at which we cut the plant measured in cm.

minx

the minimum width to which we want to measure the plant measured in cm.

maxx

the maximum width to which we want to measure the plant measured in cm.

minz

the minimum distance at which we cut the plant, measured in cm.

maxz

the maximum distance at which we cut the plant, measured in cm.

Details

Path or direction of the tractor at constant velocity.

Examples

## Should be DIRECTLY executable !! --
## First needed the LIDAR_data scan (that is one dataframe with x,y,z columns).
## Second needed define these inputs in cm: zdistance,miny,maxy,minx,maxx,minz,maxz.
## For example:
   data (LIDAR_data)
   x <- LIDAR_data [,1]
   y <- LIDAR_data [,2]
   z <- LIDAR_data [,3]
   zdistance <- 190 # total LIDAR scan distance measured in cm.
   miny <- 0 # minimum height of the plant measured in cm.
   maxy <- 2000 # maximum height of the plant measured in cm.
   minx <- 450 # minimum width from where LIDAR starts to measure (cm).
   maxx <- 1470# maximum width from where LIDAR starts to measure (cm).
   minz <- 0 # the beginning of the LIDAR scan measured in cm.
   maxz <- 186 # the end of the LIDAR scan measured in cm (length of interest).

## The function is currently defined as
Extract_plant_grapevine_function <- function(x,y,z,zdistance,miny,maxy,minx,maxx,minz,maxz){
    y <- -y
    y <- y-min(y)
    z<- (z*zdistance)/max(z)
    x_cm <- 0
    y_cm <- 0
    z_cm <- 0
    for (i in 1:length(x)){ 
      if (x[i] >= minx  && x[i] <= maxx && y[i] >= miny && y[i] <= maxy &&  z[i] >= minz  && z[i] <= maxz) {  
        y_cm[i] <- y[i]
        x_cm[i] <- x[i]
        z_cm[i] <- z[i]
      }
    }
    y_cm <- na.omit(y_cm[2:length(y_cm)])
    y_cm <- as.numeric((y_cm-min(y_cm))/1000)
    x_cm <- as.numeric(na.omit(x_cm[2:length(x_cm)])/1000)
    z_cm <- as.numeric(na.omit(z_cm[2:length(z_cm)])/100)
    return <- data.frame(x_cm,y_cm,z_cm)
  }
  out <- Extract_plant_grapevine_function(x,y,z,zdistance,miny,maxy,minx,maxx,minz,maxz)
    
     x = out[,1]
     y = out[,2]
     z = out[,3]
    # plot
     par(mfcol=c(2,2))
     plot(x,y,pch=20,cex=.4,xlab='Width (m)', ylab='Height (m)', main='Grapevine BBCH')
     plot(x,z,pch=20,cex=.4,xlab='Width (m)', ylab='Front (m)', main='Grapevine BBCH')
     plot(z,y,pch=20,cex=.4,xlab='Front (m)', ylab='Height (m)', main='Grapevine BBCH')