function?mesh?=?pointCloud2mesh（data?refNormal?stdTol）

%?mesh?=?meshD（data?refNormal?stdTol）

%?Author?:?Ajmal?Saeed?Mian?{ajmal@csse.uwa.edu.au}
%???????????Computer?Science.?Univ?of?Western?Australia
%
%?This?function?takes?data?points?performs?triangulation?on?it?filters?out
%?incorrecp?polygons?and?outputs?a?mesh?data?structure?like?the?newMesh
%?function.
%
%?Arguments?:?data?-?Nx3?vertex?coordinates?[x?y?z]?of?the?pointcloud
%?????????????stdTol?-?（optional）?tolerance?for?edge?filtering.?default?is?0.6
%?????????????
%?????????????refNormal?-?（optional）?1x3?vector?in?the?sensor?direction
%?????????????????????????=[0?0?1]?if?the?sensor?looking?towards?the?-z_axis
%
%?Return?:?mesh?-?mesh?data?structure
%???????????????????????vertices:?Nx3?vertex?coordinates
%???????????????????????triangles:?M?triangles?using?index?numbers?of?the?vertices
%???????????????????????resolution:?the?mean?edge?length?of?triangles
%???????????????????????stdeviation:?the?standard?deviation?o?edge?lengths
%???????????????????????triangleNormals:?Mx3?normal?vectors?of?each?triangle
%???????????????????????vertexNormals:?Nx3?normal?vectors?of?each?vertex
%???????????????????????vertexNtriangles:?Nx1?cell?of?neighboring?triangles?
%???????????????????????????????????????????of?each?vertex
%???????????????????????triangleNtriangles:?Mx1?cell?of?nieghboring?triangles
%???????????????????????????????????????????????of?each?triangle
%
%?Copyright?:?This?code?is?written?by?Ajmal?Saeed?Mian?{ajmal@csse.uwa.edu.au}
%??????????????Computer?Science?The?University?of?Western?Australia.?The?code
%??????????????may?be?used?modified?and?distributed?for?research?purposes?with
%??????????????acknowledgement?of?the?author?and?inclusion?this?copyright?information.
%
%?Disclaimer?:?This?code?is?provided?as?is?without?any?warrantly.

warning?off?MATLAB:divideByZero;
if?nargin?==?1
????PC?=?princomp（data）;
????data?=?data*PC;
????refNormal?=?[0?0?1];
????refNormal?=?refNormal?*?PC;
end

if?nargin?????stdTol?=?0.6;
end

tri?=?delaunay（data（:1）data（:2））;
tri（:4）?=?0;?%?initialize?4th?column?to?store?maximum?edge?length

edgeLength?=?[sqrt（sum（（data（tri（:1）:）?-?data（tri（:2）:））.^22））...
????????sqrt（sum（（data（tri（:2）:）?-?data（tri（:3）:））.^22））...
????????sqrt（sum（（data（tri（:3）:）?-?data（tri（:1）:））.^22））];

tri（:4）?=?max（edgeLength[]2）;

resolution?=?mean（edgeLength（:））;
stdeviation?=?std（edgeLength（:））;
filtLimit?=?resolution?+?stdTol*stdeviation;

bigTriangles?=?find（tri（:4）?>?filtLimit）;?%find?index?numbers?of?triagles?with?edgelength?more?than?filtLimit
tri（bigTriangles:）?=?[];?%?remove?all?triangles?with?edgelength?more?than?filtlimit
tri（:4）?=?[];?%?remove?the?max?edgeLength?column

edgeLength（bigTriangles:）?=?[];?