add loading of sample Point Clouds

The files are from ETH-Apartment Dataset

PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/Program.cs

@@ -12,7 +12,7 @@ namespace PointCloudWeb.Server.ScanConverter
     {
         private static void Main()
         {
-            var scanPoints = File.ReadAllLines("C:/Users/timwu/Desktop/Scans/0yGrad-scan-org.csv")
+            var scanPoints = File.ReadAllLines("C:/Users/timwu/Desktop/Scans/Esszimmer-scan.csv")
                                .Select(v => ScanDataPointFromCsv(v))
                                .Where(scan => scan.DistanceMM > 0)
                                .ToList();
@@ -29,7 +29,7 @@ namespace PointCloudWeb.Server.ScanConverter
 
             var csv = "x,y,z\n" + string.Join("\n", result.Select(point => point.X + ", " + point.Y + ", " + point.Z).ToArray());
 
-            File.WriteAllText("C:\\Users\\timwu\\Desktop\\Scans\\0yGrad-pc-org.csv", csv);
+            File.WriteAllText("C:\\Users\\timwu\\Desktop\\Scans\\Esszimmer-pc.csv", csv);
 
             Console.WriteLine("Convert finished");
             // Console.ReadLine();
@@ -44,11 +44,8 @@ namespace PointCloudWeb.Server.ScanConverter
                 distanceMM: (int)Convert.ToDouble(values[2], CultureInfo.InvariantCulture)
                 );
             
-            //scan.RAX += 90;
+            //scan.RAX = (scan.RAX + 90) % 360;
-            // scan.RAY += 90;
+            //scan.RAY = (scan.RAY + 90) % 360;
-            
-            //scan.RAX %= 360;
-            // scan.RAY %= 360;
             
             return scan;
             if (scan.RAX == 1) return scan;

PointCloudWeb.Server/PointCloudWeb.Server.sln.DotSettings.user

@@ -3,9 +3,11 @@
 	<s:String x:Key="/Default/CodeInspection/Highlighting/SweaWarningsMode/@EntryValue">ShowAndRun</s:String>
 	<s:String x:Key="/Default/CodeInspection/PencilsConfiguration/ActualSeverity/@EntryValue">INFO</s:String>
 	<s:Boolean x:Key="/Default/Environment/InlayHints/GeneralInlayHintsOptions/EnableInlayHints/@EntryValue">True</s:Boolean>
-	<s:String x:Key="/Default/Environment/UnitTesting/UnitTestSessionStore/Sessions/=5420edfd_002D53ed_002D4360_002D91dc_002D622a0704440e/@EntryIndexedValue">&lt;SessionState ContinuousTestingMode="0" IsActive="True" Name="All tests from &amp;lt;PointCloudWeb.Server.Tests&amp;gt; #2" xmlns="urn:schemas-jetbrains-com:jetbrains-ut-session"&gt;&#xD;
+	<s:String x:Key="/Default/Environment/UnitTesting/UnitTestSessionStore/Sessions/=5420edfd_002D53ed_002D4360_002D91dc_002D622a0704440e/@EntryIndexedValue">&lt;SessionState ContinuousTestingMode="0" Name="All tests from &amp;lt;PointCloudWeb.Server.Tests&amp;gt; #2" xmlns="urn:schemas-jetbrains-com:jetbrains-ut-session"&gt;&#xD;
   &lt;Project Location="C:\Users\timwu\source\repos\PointCloudWeb\PointCloudWeb.Server\PointCloudWeb.Server.Tests" Presentation="&amp;lt;PointCloudWeb.Server.Tests&amp;gt;" /&gt;&#xD;
 &lt;/SessionState&gt;</s:String>
-	<s:String x:Key="/Default/Environment/UnitTesting/UnitTestSessionStore/Sessions/=6e4a2479_002Dacc5_002D40ad_002Dab6f_002Dff921657a24c/@EntryIndexedValue">&lt;SessionState ContinuousTestingMode="0" Name="All tests from &amp;lt;PointCloudWeb.Server.Tests&amp;gt;" xmlns="urn:schemas-jetbrains-com:jetbrains-ut-session"&gt;&#xD;
+	<s:String x:Key="/Default/Environment/UnitTesting/UnitTestSessionStore/Sessions/=6e4a2479_002Dacc5_002D40ad_002Dab6f_002Dff921657a24c/@EntryIndexedValue">&lt;SessionState ContinuousTestingMode="0" IsActive="True" Name="All tests from &amp;lt;PointCloudWeb.Server.Tests&amp;gt;" xmlns="urn:schemas-jetbrains-com:jetbrains-ut-session"&gt;&#xD;
   &lt;Project Location="C:\Users\timwu\source\repos\PointCloudWeb\PointCloudWeb.Server\PointCloudWeb.Server.Tests" Presentation="&amp;lt;PointCloudWeb.Server.Tests&amp;gt;" /&gt;&#xD;
-&lt;/SessionState&gt;</s:String></wpf:ResourceDictionary>
+&lt;/SessionState&gt;</s:String>
+	<s:Boolean x:Key="/Default/UserDictionary/Words/=Hokuyo/@EntryIndexedValue">True</s:Boolean>
+	<s:Boolean x:Key="/Default/UserDictionary/Words/=Potree/@EntryIndexedValue">True</s:Boolean></wpf:ResourceDictionary>

PointCloudWeb.Server/PointCloudWeb.Server/Globals.cs

@@ -0,0 +1,12 @@
+namespace PointCloudWeb.Server
+{
+    public static class Globals
+    {
+        static Globals()
+        {
+            PotreeDataPath = "";
+        }
+        
+        public static string PotreeDataPath { get; }
+    }
+}

PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudService.cs

@@ -1,33 +1,64 @@
 using System;
 using System.Collections.Generic;
+using System.Globalization;
+using System.IO;
 using PointCloudWeb.Server.Models;
 
 namespace PointCloudWeb.Server.Services
 {   
     public class PointCloudService
     {
-        //private readonly IPointCloudRegistationService pointCloudRegistation;
+        //private readonly IPointCloudRegistrationService pointCloudRegistration;
         private readonly PointCloudCollection _pointClouds;
 
-        public PointCloudService(/*IPointCloudRegistationService pointCloudRegistation*/)
+        public PointCloudService(/*IPointCloudRegistrationService pointCloudRegistration*/)
         {
             _pointClouds = new PointCloudCollection();
-            //this.pointCloudRegistation = pointCloudRegistation;
+            //this.pointCloudRegistration = pointCloudRegistration;
             InitSampleData();
         }
 
+        private static int TextToCoordinate(string text)
+        {
+            var dDecimal = Convert.ToDecimal(text, CultureInfo.InvariantCulture);
+            dDecimal *= 100_000_000; //convert decimal points to integer points
+            return (int)dDecimal;
+        } 
+        
+        private static void LoadPointCloudFromEthFile(PointCloud target, string path)
+        {
+            var lines = File.ReadLines(path );
+            foreach (var line in lines)
+            {
+                //skip header
+                if (line.Contains("x,y,z")) 
+                    continue;
+
+                var values = line.Split(',');
+
+                var point = new Point(
+                    TextToCoordinate(values[1]),
+                    TextToCoordinate(values[2]),
+                    TextToCoordinate(values[3])
+                    );
+                target.Points.Add(point);
+            }
+        }
+
+        private void ConvertPointsToPotree()
+        {
+            var path = Globals.PotreeDataPath;
+        }
+        
         private void InitSampleData()
         {
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 1"));
+            var pc = new PointCloud(Guid.NewGuid(), "Scan 1");
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 2"));
+            LoadPointCloudFromEthFile(pc, "ETH-Data/Hokuyo_0.csv");
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 3"));
+            _pointClouds.Add(pc);
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 4"));
+            
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 5"));
+            pc = new PointCloud(Guid.NewGuid(), "Scan 2");
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 6"));
+            LoadPointCloudFromEthFile(pc, "ETH-Data/Hokuyo_1.csv");
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 7"));
+            _pointClouds.Add(pc);
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 8"));
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 9"));
-            _pointClouds.Add(new PointCloud(Guid.NewGuid(), "Scan 10"));
         }
 
         private void RaiseIfNotExists(Guid id)
@@ -65,7 +96,7 @@ namespace PointCloudWeb.Server.Services
             // if (_pointClouds.IndexOf(pointCloud) == 0)
             //     return;
 
-            //var transformation = pointCloudRegistation.RegisterPointCloud(pointCloud, pointClouds[0]);
+            //var transformation = pointCloudRegistration.RegisterPointCloud(pointCloud, pointClouds[0]);
             //pointCloud.Transformation = transformation;
         }
 

PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanConverterService.cs

@@ -11,15 +11,15 @@ namespace PointCloudWeb.Server.Services
             // if (scan.RAX >= 90 || scan.RAY >= 90)
             //     return new Point(0, 0, 0);
 
-            var degreeXa = scan.RAX;
+            var degreeXa = (scan.RAX) % 360;
             var degreeYa = scan.RAY;
 
             var factorY = 1;
             var factorZ = 1;
             if (180 <= degreeXa && degreeXa <= 360)
             {
-                 factorY = -1;
+                factorY = -1;
-                 factorZ = -1;
+                factorZ = -1;
             }
 
             var degreeXb = 180 - 90 - degreeXa;
@@ -40,6 +40,7 @@ namespace PointCloudWeb.Server.Services
                 sinXa = 1;
                 sinXb = 0;
             }
+
             if (sinYa == 0)
             {
                 sinYa = 1;
@@ -53,14 +54,26 @@ namespace PointCloudWeb.Server.Services
                     + 1
                     , -1)
                 * Math.Pow(scan.DistanceMM, 2)
-                );
+            );
 
-            var p = new Point()
+            var p = new Point
             {
                 X = NumericUtils.Round(z * sinYb / sinYa),
                 Y = factorY * NumericUtils.Round(z * sinXb / sinXa),
                 Z = factorZ * NumericUtils.Round(z)
             };
+            return p;
+
+            //https://stackoverflow.com/questions/52781607/3d-point-from-two-angles-and-a-distance
+            var pitch = radYa;
+            var yaw = radXa;
+
+            p = new Point
+            {
+                X = (int) (scan.DistanceMM * Math.Sin(yaw) * Math.Cos(pitch)),
+                Y = (int) (scan.DistanceMM * Math.Sin(pitch)),
+                Z = (int) (scan.DistanceMM * Math.Cos(yaw) * Math.Cos(pitch))
+            };
 
             return p;
         }

PointCloudWeb.Web/src/store/store.js

@@ -3,7 +3,6 @@ import modulePCI from './pointCloudInfo/store.js'
 
 export default createStore({
     namespaced: true,
-    strict: true,
     state: {
         dummy: "dummy"
     },