add rotation and transformation of PointClouds in map-view

PointCloudWeb.Server/PointCloudWeb.Server/Controllers/PointCloudController.cs

@@ -1,39 +0,0 @@
-using Microsoft.AspNetCore.Mvc;
-using PointCloudWeb.Server.Models;
-using PointCloudWeb.Server.Services;
-using System;
-using System.Collections.Generic;
-
-namespace PointCloudWeb.Server.Controllers
-{
-    [ApiController]
-    [Route("[controller]")]
-    public class PointCloudController
-    {
-        private readonly PointCloudService _pointCloudService;
-
-        public PointCloudController(PointCloudService pointCloudService)
-        {
-            this._pointCloudService = pointCloudService;
-        }
-
-        private PointCloudDto ConvertPointCloudToDto(PointCloud pc) => new PointCloudDto(pc.Id, pc.TransformedPoints);
-
-        [HttpGet]
-        public IList<PointCloudDto> GetAll()
-        {
-            var result = new List<PointCloudDto>();
-            foreach (var pc in _pointCloudService.GetAll())
-                result.Add(ConvertPointCloudToDto(pc));
-
-            return result;
-        }
-
-        [HttpGet]
-        public PointCloudDto GetById(Guid id)
-        {
-            var pc = _pointCloudService.GetById(id) ?? throw new KeyNotFoundException();
-            return ConvertPointCloudToDto(pc);
-        }
-    }
-}

PointCloudWeb.Server/PointCloudWeb.Server/Controllers/PointCloudInfoController.cs

@@ -3,6 +3,7 @@ using PointCloudWeb.Server.Models;
 using PointCloudWeb.Server.Services;
 using System;
 using System.Collections.Generic;
+using System.Numerics;
 
 namespace PointCloudWeb.Server.Controllers
 {
@@ -17,7 +18,8 @@ namespace PointCloudWeb.Server.Controllers
             _pointCloudService = pointCloudService;
         }
 
-        private PointCloudInfoDto ConvertPointCloudToDto(PointCloud pc) => new PointCloudInfoDto(pc.Id, pc.Name);
+        private static PointCloudInfoDto ConvertPointCloudToDto(PointCloud pc) =>
+            new PointCloudInfoDto(pc.Id, pc.Name, pc.Rotation, pc.Transformation);
 
         [HttpGet]
         public IList<PointCloudInfoDto> GetAll()
@@ -57,7 +59,11 @@ namespace PointCloudWeb.Server.Controllers
             var pc = _pointCloudService.GetById(newPc.Id);
             if (pc == null)
                 return new NotFoundResult();
+
             pc.Name = newPc.Name;
+            pc.Rotation = new Vector3(newPc.Rotation.X, newPc.Rotation.Y, newPc.Rotation.Z);
+            pc.Transformation = new Vector3(newPc.Transformation.X, newPc.Transformation.Y, newPc.Transformation.Z);
+
             return ConvertPointCloudToDto(pc);
         }
     }

PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloud.cs

@@ -1,8 +1,5 @@
-using PointCloudWeb.Server.Utils;
 using System;
 using System.Collections.Generic;
-using System.Collections.ObjectModel;
-using System.Collections.Specialized;
 using System.Diagnostics;
 using System.Diagnostics.CodeAnalysis;
 using System.Globalization;
@@ -45,14 +42,9 @@ namespace PointCloudWeb.Server.Models
 
     public class PointCloud
     {
-        private readonly ObservableCollection<Point> _points;
-        private Matrix4x4 _transformation;
-
         public PointCloud(Guid id, string name)
         {
-            _points = new ObservableCollection<Point>();
+            Points = new List<Point>();
-            _points.CollectionChanged += PointsCollectionChanged;
-            TransformedPoints = new List<Point>();
             Id = id;
             Name = name;
         }
@@ -61,59 +53,18 @@ namespace PointCloudWeb.Server.Models
 
         public string Name { get; set; }
 
-        public IList<Point> Points => _points;
+        public IList<Point> Points { get; }
 
-        // ReSharper disable once MemberCanBePrivate.Global
+        public Vector3 Transformation { get; set; }
-        public Matrix4x4 Transformation
+        public Vector3 Rotation { get; set; }
-        {
-            get => _transformation;
-            set
-            {
-                _transformation = value;
-                TransformationChanged();
-            }
-        }
 
-        public IList<Point> TransformedPoints { get; private set; }
-
-        private Point GetTransformedPoint(Point point)
-        {
-            if (Transformation.IsIdentity)
-                return new Point(point.X, point.Y, point.Z);
-
-            var v = new Vector3(point.X, point.Y, point.Z);
-            v = Vector3.Transform(v, Transformation);
-
-            return new Point(NumericUtils.Round(v.X), NumericUtils.Round(v.Y), NumericUtils.Round(v.Z));
-        }
-
-        private void PointsCollectionChanged(object sender, NotifyCollectionChangedEventArgs e)
-        {
-            if (TransformedPoints.Count > 0)
-                TransformationChanged();
-        }
-
-        private void TransformationChanged()
-        {
-            TransformedPoints.Clear();
-
-            if (Transformation.IsIdentity)
-                return;
-
-            foreach (var point in Points)
-            {
-                var transformedPoint = GetTransformedPoint(point);
-                TransformedPoints.Add(transformedPoint);
-            }
-        }
 
         // ReSharper disable once MemberCanBePrivate.Global
         public string ToStringXyz()
         {
             var stringBuilder = new StringBuilder();
-            foreach (var point in _points)
+            foreach (var point in Points)
             {
-                // + 0.001 Otherwise points are outside of the bounding box by a floating-error, then Potree-Converter fails
                 stringBuilder.AppendLine(string.Join(',',
                         (point.X).ToString(CultureInfo.InvariantCulture),
                         (point.Y).ToString(CultureInfo.InvariantCulture),

PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloudDto.cs

@@ -1,17 +0,0 @@
-using System;
-using System.Collections.Generic;
-
-namespace PointCloudWeb.Server.Models
-{
-    public class PointCloudDto
-    {
-        public PointCloudDto(Guid id, IList<Point> points)
-        {
-            Id = id;
-            Points = points;
-        }
-
-        public Guid Id { get; }
-        public IList<Point> Points { get; }
-    }
-}

PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloudInfoDto.cs

@@ -1,20 +1,47 @@
 using System;
+using System.Numerics;
+
+// ReSharper disable UnusedAutoPropertyAccessor.Global
+// ReSharper disable MemberCanBePrivate.Global
 
 namespace PointCloudWeb.Server.Models
 {
-    public class PointCloudInfoDto
+    [Serializable]
+    public class Vector3Ser
     {
-        public PointCloudInfoDto() : this(Guid.Empty, "")
+        public Vector3Ser() : this(0, 0, 0)
         {
         }
 
-        public PointCloudInfoDto(Guid id, string name)
+        public Vector3Ser(float x, float y, float z)
+        {
+            X = x;
+            Y = y;
+            Z = z;
+        }
+
+        public float X { get; set; }
+        public float Y { get; set; }
+        public float Z { get; set; }
+    }
+
+    public class PointCloudInfoDto
+    {
+        public PointCloudInfoDto() : this(Guid.Empty, "", Vector3.Zero, Vector3.Zero)
+        {
+        }
+
+        public PointCloudInfoDto(Guid id, string name, Vector3 rotation, Vector3 transformation)
         {
             Id = id;
             Name = name;
+            Rotation = new Vector3Ser(rotation.X, rotation.Y, rotation.Z);
+            Transformation = new Vector3Ser(transformation.X, transformation.Y, transformation.Z);
         }
 
         public Guid Id { get; set; }
         public string Name { get; set; }
+        public Vector3Ser Rotation { get; set; }
+        public Vector3Ser Transformation { get; set; }
     }
 }

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

@@ -2,6 +2,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
+using System.Numerics;
 using PointCloudWeb.Server.Models;
 using PointCloudWeb.Server.Utils;
 
@@ -73,11 +74,15 @@ namespace PointCloudWeb.Server.Services
 
         public PointCloud GetById(Guid id) => _pointClouds.GetById(id);
 
-        public void RegisterPointCloud(Guid id)
+        private void RegisterPointCloud(Guid id)
         {
             RaiseIfNotExists(id);
-            // var pointCloud = _pointClouds.GetById(id);
+
-            //
+            var pc = GetById(id);
+            
+            pc.Transformation = Vector3.Zero;
+            pc.Rotation = Vector3.Zero;
+
             // //the first can't be registered
             // if (_pointClouds.IndexOf(pointCloud) == 0)
             //     return;