3d scanning notes

infrared laser beam
round-trip flight time of the photons
count individual photons
Optics Express
CT scan
Evan Doney
Journal of Visualized Experiments
xray computed tomography mode
xray CT datasets
CT = computed tomography
point cloud (.fls) to STL
NetFabb studio
Photon 3D scanner
affordable 3d scanner
point cloud -> mesh
Next Engine, Leica, and FARO Focus 3D.
Rapidform XOR
Agisoft Photoscan model
retopology in 3ds max
Maps extraction in Zbrush
Faro Focus 3D
Artec Eva
Creaforms Maxscan
Faro Focus 3D
Agisoft Photoscan
Cubify Capture
Models, Mobile 3d Laser Scanner
skin a point cloud
watertight models
software to add detail
software to calculate watertight gaps-closed version
applying textures to 3D model
Artec 3D Scanners
Artec Studio + Kinect
David Scanner
photogrammetry method c
photometric stereo
meshing point clouds
3ds max
rapidform 3d scanning
rapidform XOR
point cloud file converter
3d laser mapping

Prettier PHP Debug Messages continued

Continuation to Prettier PHP Debug Messages. This version is self-styling and also accepts a label parameter.

if (!function_exists('pp')) { //Pretty Print
  function pp($obj,$label = '') {  
    $data = json_encode(print_r($obj,true));
    <style type="text/css">
      #bsdLogger {
      position: absolute;
      top: 0px;
      right: 0px;
      border-left: 4px solid #bbb;
      padding: 6px;
      background: white;
      color: #444;
      z-index: 999;
      font-size: 1.25em;
      width: 400px;
      height: 800px;
      overflow: scroll;
    <script type="text/javascript">
      var doStuff = function(){
        var obj = <?php echo $data; ?>;
        var logger = document.getElementById('bsdLogger');
        if (!logger) {
          logger = document.createElement('div');
          logger.id = 'bsdLogger';
        var pre = document.createElement('pre');
        var h2 = document.createElement('h2');
        pre.innerHTML = obj;
        h2.innerHTML = '<?php echo addslashes($label); ?>';
      window.addEventListener ("DOMContentLoaded", doStuff, false);

Amber Smalltalk on Shared Hosting Provider

I’m having a lot of fun learning Amber Smalltalk. It’s great having an IDE right inside the browser. My code changes in the IDE save and commit back to the webserver via WebDAV or NodeJS.

I also own a few shared hosting accounts which don’t offer WebDAV or NodeJS. They also forbid HTTP PUT. But I’d still like to be able to develop Amber projects on those sites too.

So I decided to modify Amber’s Browser>>commitPackage method to upload files as FormData via regular HTTP POST.

FormData is a newer XMLHttpRequest interface, so your browser compatibility may be an issue.

I made a few modifications to the Browser class (under the IDE package).

First, I created a helper method which uses the FormData object.

commitPackageAsFormDataToPath: path withFileData: fileData
	| formData apiKey|
	apiKey := self class commitAPIKey.
	formData = new FormData();
	selectedPackage ifNotNil: [
 		jQuery ajax: #{
          		#url -> self class commitScriptURL.
          		#type -> 'POST'.
          		#data -> formData.
          		#contentType -> false.
          		#processData -> false.
          		#success -> [ :data | console log: data ]

Next, commitPackageAsFormData will call the helper method defined above.

	| d path fileData |
	self commitPackageAsFormDataToPath: (self class commitPathJs, '/', selectedPackage, '.js') withFileData: (Exporter new exportPackage: selectedPackage). 
	self commitPackageAsFormDataToPath: (self class commitPathJs, '/', selectedPackage, '.deploy.js') withFileData: (StrippedExporter new exportPackage: selectedPackage). 
	self commitPackageAsFormDataToPath: (self class commitPathSt, '/', selectedPackage, '.st') withFileData: (ChunkExporter new exportPackage: selectedPackage).

Now I override the standard commitPackage method (Since this is a destructive edit, you may want to first rename it to something else)

          self commitPackageAsFormData

Almost done… I still need to define a few class-side methods and then make the server-side commit script.


For security, I will prompt for a key to be sent to the server-side commit script

	| key |
	commitAPIKey ifNil: [ 
          	<key = prompt('Enter the API Key');>. 
                commitAPIKey := key.            
	^ commitAPIKey

I need to create the class-side instance variable to store the key I prompted for

Browser class instanceVariableNames: 'commitAPIKey'

Finally, I need to create the server-side commit.php script

$all = Array();
$all = array_merge($all,$_POST);
$all = array_merge($all,$_GET);
$correct_apikey = "Sometimes I Doubt Your Commitment to Sparkle Motion"; //make this your own
$root = dirname(__FILE__);
$path = $all['path'];
$data = $all['fileData'];
$data = stripslashes($data);
$fullpath = $root . '/' . $path;
$allowed = preg_match('/^js/',$path) || preg_match('/^st/',$path);
if (!$allowed) {
  die('invalid path ' . $path);
if ($all['commitAPIKey'] != $correct_apikey) {
  die('invalid API key, not allowed to commit');
if (empty($data)) {
  die('empty data');
$fp = fopen($fullpath, "w");
$written = fwrite($fp, $data);
echo "OK, " . $written . " bytes written";

And there we go. Hacking Amber on a Shared Hosting Provider using HTTP POST and FormData.

EDIT: I updated the code relating to commitAPIKey

WP Rotator

A new WordPress plugin I’ve been working on with the help of Bill Erickson. Rotates through featured images of a custom query whose query args are configurable by the administrator. Animates by sliding or cross-fading. Adjustable animation speeds. Hoping to share it soon in the WordPress Plugin Directory.

UPDATE: Here it is in the Plugin Directory

Code Snippets

Not sure if something like this already exists in WP

function get_post_ids_satisfying_taxonomy_terms($taxterms) {
  $first_pass = true;
  foreach($taxterms as $taxonomy => $term_slug) {
    $the_term = get_term_by('slug',$term_slug,$taxonomy);
    $object_ids = get_objects_in_term($the_term->term_id,Array($taxonomy));
    if ($first_pass) {
      $results = $object_ids;
      $first_pass = false;
    else {    //accumulate the post ids which satisfy all taxonomy => term pairs (AND, not OR)
      $results = array_intersect($results,$object_ids);  
  $results = empty($results) ? Array(-1) : $results; //the post__in query_var gets ignored on an empty array, so return an invalid post id in an array
  return $results;

This snippet will change all categories above 3 to be sub-categories of 3

    require_once(ABSPATH . 'wp-admin/includes/taxonomy.php');
    foreach (get_categories('hide_empty=0') as $c) {
      if ($c->term_id > 3) {      
        $result = wp_insert_category(
          'cat_ID' => $c->term_id,
          'category_parent' => 3,
          'cat_name' => $c->name

WordPress plugin: Query Tester

@fienen came up with a good idea for a WordPress plugin today. He wants to be able to type in a sample parameter string for query_posts and see which posts will result, given that string. I decided that’s something I want too so I don’t have to hack up a template on the fly if I don’t want to.

Here’s a quick and dirty plugin which should do the trick. It installs itself into Dashboard > Settings > Query Tester

Prettier PHP Debug Messages

(prettier than what I’ve been doing, at least)

Hmm, let’s see. Trying to figure out a bug in my WordPress template. I need to know what the current post looks like. So I’ll go to the template and put in


which produces

That’s helpful, but a little hard to read. So let’s create a Pretty Print function and put some preformat tags around the output.

(in my theme’s functions.php)

if (! function_exists('pp')) {
  function pp($msg) {
  	echo "<" . "pre>" . print_r($msg,true) . "<" . "/pre>";

And so now if I call this in my template


we get

A little better. So that’s been my Pretty Print function for quite a while. But sometimes the debug messages are unreadable due to their position in the template where I call pp(). Maybe there are theme colors hiding the messages, or possibly an overflow: hidden CSS rule blocks some of them.

So I decided to make another version which will collect all of the calls to pp() and put them in one visible spot. It will allow scrolling, and CSS styling.

(in my theme’s functions.php)

if (!function_exists('pp')) {
  function pp($obj) {  
    $data = json_encode(print_r($obj,true));
    <script type="text/javascript">
      var obj = <?php echo $data; ?>;
      var logger = document.getElementById('bsdLogger');
      if (!logger) {
        logger = document.createElement('div');
        logger.id = 'bsdLogger';
      var pre = document.createElement('pre');
      pre.innerHTML = obj;

So now in my template, I debug all sorts of nonsense

            <?php the_content(); ?>
            <?php pp(Array('apples','oranges'));
            <table style="border: 2px solid red;">
              <tr><td>What's this?</td><td>a table in the middle of nowhere?</td></tr>

Mix with some CSS to taste and you get

Notice that even though there’s a random table happening between debug calls, the debug messages still gather into their designated spot.

I think I’ll see how that suits me for a while. True, it obscures part of the content, but if I’m asking for a debug message in the first place, that’s primarily what I want to see. When I remove the pp() calls in the code, the message box goes away again.

If there are better ways of doing this, please let me know.

Relative Site URL on Content Save

Another post for WordPress admins, building on an earlier WordPress Tip: Bloginfo as a Shortcode

Having a shortcode is great, but why not automate the insertion of the shortcode into the content box? That’s what I’ve done here.

(To use this code, add it to your theme’s functions.php file)

function bsdrelative_content_replace_url($content) {  
  return str_replace(get_bloginfo('url'),'[url]',$content);
function bsdrelative_url_shortcode($atts, $content = null) {
  return get_bloginfo('url'); 
add_shortcode("url", "bsdrelative_url_shortcode");

There’s a reason I’m using a shortcode rather just replacing http://site.com/the/link with /the/link and it’s that the latter assumes that the site is installed at the DocumentRoot of the webserver. Not a safe assumption. Often times, I’m developing a new website for a client under a subfolder such as a http://clientsite.com/staging or http://clientsite.com/dev while the current to-be-replaced site remains at the root level.

I’ve also made this available as a WordPress Plugin

WordPress Tip: bloginfo as a shortcode

I often need to help move a client’s redesigned website into WordPress at a new webhost. During this process, the client’s domain must remain pointing to the old website so there is no interruption in traffic. Repointing the domain becomes one of the last steps of the process.

WordPress addresses a potential problem here with a Template tag called bloginfo. Inside my theme’s templates, I use bloginfo(‘url’) rather than hardcoding my site’s URL. The actual URL is maintained in the Dashboard under Settings > General > WordPress address (URL). bloginfo(‘template_url’) adds the current theme path to the URL. Often when programming, computing a value gives you more flexibility than hardcoding a value.

Another area where I would like to have this flexibility is inside the actual content of the post. If I upload an image using the Media Uploader, it immediately computes the URL for the image. But I don’t want to have to come back later after the domain has been repointed to edit the URLs in the post. Can’t I have the same delayed computation that bloginfo(‘url’) provides, but inside the content?

Solution 1: Shortcodes for your URLs

Edit your theme’s functions.php

function my_url($atts, $content = null) {
  return get_bloginfo('url'); 
add_shortcode("url", "my_url");  
function my_template_url($atts, $content = null) {
  return get_bloginfo('template_url'); 
add_shortcode("template_url", "my_template_url");  
function my_images_url($atts, $content = null) {
  return get_bloginfo('template_url') . '/images'; 
add_shortcode("images_url", "my_images_url");

Using this shortcode, I can upload the image, insert the image into the post, and then modify the URL to use the shortcode. I don’t have to return to edit the URL later.

  <img src="[images_url]/chunky.jpg" />

Solution 2: Shortcode for bloginfo itself

I found this solution at Blue Anvil

function bloginfo_shortcode( $atts ) {
        'key' => '',
    ), $atts));
    return get_bloginfo($key);
add_shortcode('bloginfo', 'bloginfo_shortcode');


That was uploaded with the Media Uploader, and here’s the final markup

<a href="[bloginfo key='url']/wp-content/uploads/2010/02/chunky-e1266723693872.jpg">
<img src="[bloginfo key='url']/wp-content/uploads/2010/02/chunky-e1266723693872-225x300.jpg" 
alt="" title="chunky" width="225" height="300" class="alignnone size-medium wp-image-462" /></a>