void filter_depthscan::applyFilter(RichParameterSet* pars){
typedef qglviewer::Vec QGLVec;
/// Window size
int w = drawArea()->width();
int h = drawArea()->height();
/// Create query octree
SurfaceMeshModel* selection = SurfaceMesh::safe_cast( model() );
Octree octree( selection );
if(selection->n_faces()==0)
throw StarlabException("Cannot scan a point cloud, need n_faces()>0");
/// Need face normals for angle rejection
if(!selection->has_face_normals())
SurfaceMesh::NormalsHelper(selection).compute_face_normals();
Vector3FaceProperty fnormals = selection->face_normals();
/// Create a model to store scans & add it
SurfaceMeshModel* scan = new SurfaceMeshModel("","Scan");
document()->addModel(scan);
drawArea()->setRenderer(scan,"Flat Shading");
scan->color = QColor(125,0,0);
/// assert( step>1 )
int step = qMax( pars->getInt("density"),1 );
/// angle: [0,90]
double angle = qBound(0.0, (double) pars->getFloat("maxangle"), 90.0);
double mincosangle = cos( angle * M_PI / 180 );
/// scan noise
double znoise = pars->getFloat("znoise");
/// Fetch normals?
// bool getNormals = pars->getBool("getnormal");
/// Size of matrices
int nrows = std::floor( double(h) / step );
int ncols = std::floor( double(w) / step );
/// Layers containing point coordinates
Matrix<XYZ_View, Dynamic, Dynamic> X(ncols,nrows);
/// Perform scan
for(int winX=0,i=0; i<ncols; winX+=step, i++){
for(int winY=0,j=0; j<nrows; winY+=step, j++){
QGLVec _orig, _dir;
drawArea()->camera()->convertClickToLine( QPoint(winX, winY), _orig, _dir );
Vector3 orig(_orig[0],_orig[1],_orig[2]);
Vector3 dir(_dir[0],_dir[1],_dir[2]);
dir.normalize(); ///< just to be sure
int isectHit = -1;
Eigen::Vector3d ipoint = octree.closestIntersectionPoint( Ray(orig, dir), &isectHit );
X(i,j).xyz[0] = std::numeric_limits<Scalar>::quiet_NaN();
if(isectHit>=0){
Vector3 fnormal = fnormals[ Face(isectHit) ];
double cosangle = std::abs(dot( fnormal, dir ));
if(cosangle>mincosangle){
ipoint += dir*randn(0.0,znoise);
/// Save point
X(i,j).xyz = ipoint;
X(i,j).view = dir;
}
}
}
}
DepthTriangulator(scan).execute(X, mincosangle);
scan->update_vertex_normals();
/// Inform user
showMessage("Scanned #P=%d points", scan->n_vertices());
}
