From 7321fa6b7ecdda4bf8872b562ffe1c4183df40e6 Mon Sep 17 00:00:00 2001
From: wmayer <wmayer@users.sourceforge.net>
Date: Thu, 24 Aug 2017 13:05:21 +0200
Subject: [PATCH] don't filter point cloud when estimating normals to avoid
 mismatch of number of points and normals

---
 .../App/AppReverseEngineering.cpp               | 17 ++++++++++++++++-
 src/Mod/ReverseEngineering/App/Segmentation.cpp |  5 ++++-
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/src/Mod/ReverseEngineering/App/AppReverseEngineering.cpp b/src/Mod/ReverseEngineering/App/AppReverseEngineering.cpp
index b5db47f1ee..4fdfe0939c 100644
--- a/src/Mod/ReverseEngineering/App/AppReverseEngineering.cpp
+++ b/src/Mod/ReverseEngineering/App/AppReverseEngineering.cpp
@@ -114,7 +114,22 @@ public:
             "filterVoxelGrid(dim)."
         );
         add_keyword_method("normalEstimation",&Module::normalEstimation,
-            "normalEstimation(Points)."
+            "normalEstimation(Points,[KSearch=0, SearchRadius=0]) -> Normals\n"
+            "KSearch is an int and used to search the k-nearest neighbours in\n"
+            "the k-d tree. Alternatively, SearchRadius (a float) can be used\n"
+            "as spatial distance to determine the neighbours of a point\n"
+            "Example:\n"
+            "\n"
+            "import ReverseEngineering as Reen\n"
+            "pts=App.ActiveDocument.ActiveObject.Points\n"
+            "nor=Reen.normalEstimation(pts,KSearch=5)\n"
+            "\n"
+            "f=App.ActiveDocument.addObject('Points::FeaturePython','Normals')\n"
+            "f.addProperty('Points::PropertyNormalList','Normal')\n"
+            "f.Points=pts\n"
+            "f.Normal=nor\n"
+            "f.ViewObject.Proxy=0\n"
+            "f.ViewObject.DisplayMode=1\n"
         );
 #endif
 #if defined(HAVE_PCL_SEGMENTATION)
diff --git a/src/Mod/ReverseEngineering/App/Segmentation.cpp b/src/Mod/ReverseEngineering/App/Segmentation.cpp
index 9340f73e05..eb2f7c5bcb 100644
--- a/src/Mod/ReverseEngineering/App/Segmentation.cpp
+++ b/src/Mod/ReverseEngineering/App/Segmentation.cpp
@@ -179,6 +179,7 @@ void NormalEstimation::perform(std::vector<Base::Vector3d>& normals)
     cloud->width = int (cloud->points.size ());
     cloud->height = 1;
 
+#if 0
     // Build a passthrough filter to remove spurious NaNs
     pcl::PointCloud<PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<PointXYZ>);
     pcl::PassThrough<PointXYZ> pass;
@@ -186,13 +187,15 @@ void NormalEstimation::perform(std::vector<Base::Vector3d>& normals)
     pass.setFilterFieldName ("z");
     pass.setFilterLimits (0, 1.5);
     pass.filter (*cloud_filtered);
+#endif
 
     // Estimate point normals
     pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
     pcl::search::KdTree<PointXYZ>::Ptr tree (new pcl::search::KdTree<PointXYZ> ());
     pcl::NormalEstimation<PointXYZ, pcl::Normal> ne;
     ne.setSearchMethod (tree);
-    ne.setInputCloud (cloud_filtered);
+    //ne.setInputCloud (cloud_filtered);
+    ne.setInputCloud (cloud);
     if (kSearch > 0)
         ne.setKSearch (kSearch);
     if (searchRadius > 0)