function points = scan2(calibout, laserscans, tbase, tstep)

laserdata = calibout(1:3,:);
camstats = calibout(4:10,1:3);
n = size(laserscans,2);

ytotal = size(laserscans,1);
points = zeros(ytotal, n, 3);

baseline = convert('sbase.jpg');

for i = 1:n
	xcenter = size(baseline,2)/2;
	ycenter = size(baseline,1)/2;
	x = laserscans(:,i)/camstats(5,1);
	y = ((1:ytotal) - ycenter)'/camstats(5,2);

	ud = comp_distortion([x y]',camstats(7,1)); 

	xc = ud(1,:)';
	yc = ud(2,:)';

	thetap = tbase + (i-1)*tstep;

	tp= calibout(1, 1:4);

	theta = polyval(tp, thetap);

	Xlaser = calibout(2,1);
	Zlaser = calibout(2,2);

	a1 = xc;
	a2 = -tan(theta);
	b2 = (Xlaser - (Zlaser*a2))* ones(size(xc));
	Z = b2 ./ (a1 - a2);

	points(:,i,1) = xc.*Z;
	points(:,i,2) = yc.*Z;
	points(:,i,3) = Z;
end;


z = points(:,:,3);
zgrad = points(2:size(points,1),:,3) - points(1:size(points,1)-1,:,3);

thresh = 10;

zwhich = zeros(size(z));
zwhich(1:size(points,1)-1,:) = zgrad>thresh;
zwhich(2:size(points,1),:) = zwhich(2:size(points,1),:) + zgrad>thresh;

z(find(zwhich)) = NaN;

points(:,:,3) = z;

surfl(points(:,:,1),-points(:,:,2),points(:,:,3));
hold on; shading flat;
%plot3(points(:,:,1),-points(:,:,2),points(:,:,3));