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add backend for registration

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This commit is contained in:
Tim Wundenberg
2021-07-20 20:55:59 +02:00
parent d9873ab8cc
commit 41f3567fbc
9 changed files with 123 additions and 47 deletions
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13
PointCloudWeb.Server/PointCloudWeb.Server/Controllers/ScanDataController.cs
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@@ -1,6 +1,7 @@
using Microsoft.AspNetCore.Mvc;
using PointCloudWeb.Server.Models;
using PointCloudWeb.Server.Services;
using System;
namespace PointCloudWeb.Server.Controllers
{
@@ -8,17 +9,23 @@ namespace PointCloudWeb.Server.Controllers
[Route("[controller]")]
public class DataController : ControllerBase
{
private readonly DataService _scanDataService;
private readonly DataService scanDataService;
public DataController(DataService scanDataService)
{
_scanDataService = scanDataService;
this.scanDataService = scanDataService;
}
[HttpPost]
public void PostScanData([FromBody] ScanDataList data)
{
_scanDataService.AddScan(data);
scanDataService.AddScan(data);
}
[HttpPut]
public void ScanFinished(Guid id)
{
scanDataService.ScanFinished(id);
}
}
}

4
PointCloudWeb.Server/PointCloudWeb.Server/Controllers/WeatherForecastController.cs
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@@ -16,11 +16,11 @@ namespace PointCloudWeb.Server.Controllers
"Freezing", "Bracing", "Chilly", "Cool", "Mild", "Warm", "Balmy", "Hot", "Sweltering", "Scorching"
};
private readonly ILogger<WeatherForecastController> _logger;
private readonly ILogger<WeatherForecastController> logger;
public WeatherForecastController(ILogger<WeatherForecastController> logger)
{
_logger = logger;
this.logger = logger;
}
[HttpGet]

62
PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloud.cs
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@@ -1,6 +1,10 @@
using PointCloudWeb.Server.Utils;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Collections.Specialized;
using System.Linq;
using System.Numerics;
namespace PointCloudWeb.Server.Models
{
@@ -34,21 +38,71 @@ namespace PointCloudWeb.Server.Models
public override int GetHashCode() => HashCode.Combine(X, Y, Z);
public override string ToString() => (X.ToString() + " " + Y.ToString() + " " + Z.ToString());
public override string ToString() => X.ToString() + " " + Y.ToString() + " " + Z.ToString();
}
public class PointCloud
{
public PointCloud(String name, Guid id)
private ObservableCollection<Point> points;
private Matrix4x4 transformation;
public PointCloud(string name, Guid id)
{
Points = new List<Point>();
points = new ObservableCollection<Point>();
points.CollectionChanged += PointsCollectionChanged;
TransformedPoints = new List<Point>();
Id = id;
Name = name;
}
public Guid Id { get; private set; }
public string Name { get; set; }
public IList<Point> Points { get; private set; }
public IList<Point> Points { get => points; }
public Matrix4x4 Transformation
{
get => transformation;
set
{
TransformationChanged();
transformation = value;
}
}
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();
}
public void TransformationChanged()
{
TransformedPoints.Clear();
if (Transformation.IsIdentity)
return;
foreach (var point in Points)
{
var transformedPoint = GetTransformedPoint(point);
TransformedPoints.Add(transformedPoint);
}
}
}
public class PointCloudCollection : List<PointCloud>

14
PointCloudWeb.Server/PointCloudWeb.Server/Services/IPointCloudRegistration.cs
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@@ -1,14 +0,0 @@
using PointCloudWeb.Server.Models;
namespace PointCloudWeb.Server.Services
{
public interface IPointCloudRegistation
{
public TransformationMatrix RegisterPointCloud(PointCloud pc1, PointCloud pc2)
{
return null;
}
class TransformationMatrix { }
}
}

10
PointCloudWeb.Server/PointCloudWeb.Server/Services/IPointCloudRegistrationService.cs Normal file
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@@ -0,0 +1,10 @@
using PointCloudWeb.Server.Models;
using System.Numerics;
namespace PointCloudWeb.Server.Services
{
public interface IPointCloudRegistationService
{
public Matrix4x4 RegisterPointCloud(PointCloud source, PointCloud target);
}
}

31
PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudService.cs
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@@ -6,16 +6,18 @@ namespace PointCloudWeb.Server.Services
{
public class PointCloudService
{
private readonly PointCloudCollection _pointClouds;
private readonly IPointCloudRegistationService pointCloudRegistation;
private readonly PointCloudCollection pointClouds;
public PointCloudService()
public PointCloudService(IPointCloudRegistationService pointCloudRegistation)
{
_pointClouds = new PointCloudCollection();
pointClouds = new PointCloudCollection();
this.pointCloudRegistation = pointCloudRegistation;
}
private void RaiseIfNotExists(Guid id)
{
if (!_pointClouds.Contains(id))
if (!pointClouds.Contains(id))
throw new ArgumentOutOfRangeException("The Id {0} was not found!", id.ToString());
}
@@ -23,7 +25,7 @@ namespace PointCloudWeb.Server.Services
{
RaiseIfNotExists(id);
var pc = _pointClouds.GetById(id);
var pc = pointClouds.GetById(id);
foreach (var point in points)
pc.Points.Add(point);
@@ -31,16 +33,21 @@ namespace PointCloudWeb.Server.Services
public void RegisterPointCloud(Guid id)
{
RegisterPointClouds(new List<Guid>() { id });
RaiseIfNotExists(id);
var pointCloud = pointClouds.GetById(id);
//the first can't be registered
if (pointClouds.IndexOf(pointCloud) == 0)
return;
var transformation = pointCloudRegistation.RegisterPointCloud(pointCloud, pointClouds[0]);
pointCloud.Transformation = transformation;
}
public void RegisterPointClouds(IList<Guid> ids)
public void RegisterPointClouds()
{
//ensure that every element in "ids" is in "_pointClouds"
foreach (var id in ids)
RaiseIfNotExists(id);
throw new NotImplementedException();
foreach (var pointCloud in pointClouds)
RegisterPointCloud(pointCloud.Id);
}
}
}

10
PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanConverterService.cs
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@@ -1,13 +1,11 @@
using System;
using System.Numerics;
using PointCloudWeb.Server.Models;
using PointCloudWeb.Server.Utils;
namespace PointCloudWeb.Server.Services
{
public class ScanConverterService
{
private int Round(double value) => (int)Math.Round(double.IsNaN(value) ? 0 : value, 0, MidpointRounding.AwayFromZero);
public Point Transform(ScanDataPoint scan)
{
var factorZ = 1;
@@ -46,9 +44,9 @@ namespace PointCloudWeb.Server.Services
var p = new Point()
{
X = Round(z * sinYB / sinYA),
Y = Round(z * sinXB / sinXA),
Z = factorZ * Round(z)
X = NumericUtils.Round(z * sinYB / sinYA),
Y = NumericUtils.Round(z * sinXB / sinXA),
Z = factorZ * NumericUtils.Round(z)
};
return p;

17
PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanDataService.cs
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@@ -6,13 +6,13 @@ namespace PointCloudWeb.Server.Services
{
public class DataService
{
private readonly PointCloudService _pointCloudService;
private readonly ScanConverterService _scanConverterService;
private readonly PointCloudService pointCloudService;
private readonly ScanConverterService scanConverterService;
public DataService(PointCloudService pointCloudService, ScanConverterService scanConverterService)
{
_pointCloudService = pointCloudService;
_scanConverterService = scanConverterService;
this.pointCloudService = pointCloudService;
this.scanConverterService = scanConverterService;
}
private IList<Point> ConvertToPoints(ScanDataList scanData)
@@ -21,7 +21,7 @@ namespace PointCloudWeb.Server.Services
foreach (var scan in scanData.ScanPoints)
{
list.Add(_scanConverterService.Transform(scan));
list.Add(scanConverterService.Transform(scan));
}
return list;
@@ -29,7 +29,12 @@ namespace PointCloudWeb.Server.Services
public void AddScan(ScanDataList scanData)
{
_pointCloudService.AddPoints(scanData.Id, ConvertToPoints(scanData));
pointCloudService.AddPoints(scanData.Id, ConvertToPoints(scanData));
}
public void ScanFinished(Guid id)
{
pointCloudService.RegisterPointCloud(id);
}
}
}

9
PointCloudWeb.Server/PointCloudWeb.Server/Utils/NumericUtils.cs Normal file
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@@ -0,0 +1,9 @@
using System;
namespace PointCloudWeb.Server.Utils
{
public static class NumericUtils
{
public static int Round(double value) => (int)Math.Round(double.IsNaN(value) ? 0 : value, 0, MidpointRounding.AwayFromZero);
}
}