From 4809964d3dcc4b48a732bbe42f860c2398399e44 Mon Sep 17 00:00:00 2001
From: Tim Wundenberg <timwundenberg@outlook.de>
Date: Fri, 16 Jul 2021 22:41:55 +0200
Subject: [PATCH] add tests and correction for edge cases

---
 .../Services/ScanConverterServiceTest.cs      | 54 ++++++++++---------
 .../Services/ScanConverterService.cs          | 36 +++++--------
 2 files changed, 43 insertions(+), 47 deletions(-)

diff --git a/PointCloudWeb.Server/PointCloudWeb.Server.Tests/Services/ScanConverterServiceTest.cs b/PointCloudWeb.Server/PointCloudWeb.Server.Tests/Services/ScanConverterServiceTest.cs
index 96493f8..11220d4 100644
--- a/PointCloudWeb.Server/PointCloudWeb.Server.Tests/Services/ScanConverterServiceTest.cs
+++ b/PointCloudWeb.Server/PointCloudWeb.Server.Tests/Services/ScanConverterServiceTest.cs
@@ -9,7 +9,6 @@ namespace PointCloudWeb.Server.Tests.Services
     {
 
         [Theory]
-        [InlineData(1, 1, 1)]
         [InlineData(2, 2, 2)]
         [InlineData(2, 1, 1)]
         [InlineData(1, 2, 1)]
@@ -17,6 +16,13 @@ namespace PointCloudWeb.Server.Tests.Services
         [InlineData(10, 15, 32)]
         [InlineData(5, 12, 7)]
 
+        //Z = 0 is not possible due to lack of Information
+        [InlineData(0, 0, 0)]
+        [InlineData(0, 0, 1)]
+        [InlineData(0, 1, 1)]
+        [InlineData(1, 0, 1)]
+        [InlineData(1, 1, 1)]
+
         [InlineData(-1, 1, 1)]
         [InlineData(1, -1, 1)]
         [InlineData(-1, -1, 1)]
@@ -24,12 +30,17 @@ namespace PointCloudWeb.Server.Tests.Services
         [InlineData(-5, -12, 7)]
         [InlineData(-22, 13, 11)]
 
-        //[InlineData(1, 1, -1)]
-        //[InlineData(-1, 1, -1)]
-        //[InlineData(1, -1, -1)]
-        //[InlineData(5, 12, -7)]
-        //[InlineData(-5, 12, -7)]
-        //[InlineData(-5, -12, -7)]
+        [InlineData(0, 0, -1)]
+        [InlineData(0, -1, -1)]
+        [InlineData(-1, 0, -1)]
+        [InlineData(-1, -1, -1)]
+
+        [InlineData(1, 1, -1)]
+        [InlineData(5, 12, -7)]
+        [InlineData(-1, 1, -1)]
+        [InlineData(1, -1, -1)]
+        [InlineData(-5, 12, -7)]
+        [InlineData(-5, -12, -7)]
         public static void ScanConverterTest(int x, int y, int z)
         {
             var scan = new ScanDataPoint
@@ -39,32 +50,27 @@ namespace PointCloudWeb.Server.Tests.Services
                 DistanceMM = (float)Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2) + Math.Pow(z, 2))
             };
 
+            if (double.IsNaN(scan.RAX))
+                scan.RAX = 0;
+            if (double.IsNaN(scan.RAY))
+                scan.RAY = 0;
+
             //from rad to degree
             scan.RAX = scan.RAX * 180 / Math.PI;
             scan.RAY = scan.RAY * 180 / Math.PI;
+
+            if (z < 0)
+            {
+                scan.RAX += 270;
+                scan.RAY += 270;
+            }
+
             var expected = new Point(x, y, z);
 
             var service = new ScanConverterService();
             var point = service.Transform(scan);
             Assert.Equal(expected, point);
 
-            //if (scan.RAX >= 0 && scan.RAX < 90)
-            //    scan.RAY = 360 - scan.RAY;
-            //else if (scan.RAX >= 90 && scan.RAX < 180)
-            //    scan.RAY = 180 - scan.RAY;
-
-            //if (scan.RAX < 270 && scan.RAY >= 270 && scan.RAY < 360)
-            //    scan.RAX = 360 - scan.RAX;
-            //else if (angle >= 180 && angle < 270)
-            //{
-            //    sin *= -1;
-            //    cos *= -1;
-            //}
-            //else if (angle >= 270 && angle < 360)
-            //{
-            //    sin *= -1;
-            //}
-
         }
     }
 }
diff --git a/PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanConverterService.cs b/PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanConverterService.cs
index e165669..b9143be 100644
--- a/PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanConverterService.cs
+++ b/PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanConverterService.cs
@@ -6,32 +6,22 @@ namespace PointCloudWeb.Server.Services
 {
     public class ScanConverterService
     {
-
-        private static void CorrectQuadrants(double angle, ref float sin, ref float cos)
-        {
-            if (angle < 0 || angle >= 360)
-                throw new ArgumentOutOfRangeException();
-            if (angle > 90 && angle < 180)
-            {
-                cos *= -1;
-            }
-            else if (angle >= 180 && angle < 270)
-            {
-                sin *= -1;
-                cos *= -1;
-            }
-            else if (angle >= 270 && angle < 360)
-            {
-                sin *= -1;
-            }
-        }
-
-        private int Round(double value) => (int)Math.Round(value, 0, MidpointRounding.AwayFromZero);
+        private int Round(double value) => (int)Math.Round(double.IsNaN(value) ? 0 : value, 0, MidpointRounding.AwayFromZero);
         public Point Transform(ScanDataPoint scan)
         {
+            var factorZ = 1;
+
             var degreeXA = scan.RAX;
-            var degreeXB = 180 - 90 - degreeXA;
             var degreeYA = scan.RAY;
+
+            if (degreeXA > 270 && degreeYA > 270)
+            {
+                degreeXA -= 270;
+                degreeYA -= 270;
+                factorZ = -1;
+            }
+
+            var degreeXB = 180 - 90 - degreeXA;
             var degreeYB = 180 - 90 - degreeYA;
 
             var radXA = degreeXA * Math.PI / 180;
@@ -58,7 +48,7 @@ namespace PointCloudWeb.Server.Services
             {
                 X = Round(z * sinYB / sinYA),
                 Y = Round(z * sinXB / sinXA),
-                Z = Round(z)
+                Z = factorZ * Round(z)
             };
 
             return p;