add test for ScanConverterService

PointCloudWeb.Server/PointCloudWeb.Server.Tests/PointCloudWeb.Server.Tests.csproj

@@ -0,0 +1,26 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net5.0</TargetFramework>
+
+    <IsPackable>false</IsPackable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="16.9.4" />
+    <PackageReference Include="xunit" Version="2.4.1" />
+    <PackageReference Include="xunit.runner.visualstudio" Version="2.4.3">
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+      <PrivateAssets>all</PrivateAssets>
+    </PackageReference>
+    <PackageReference Include="coverlet.collector" Version="3.0.2">
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+      <PrivateAssets>all</PrivateAssets>
+    </PackageReference>
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\PointCloudWeb.Server\PointCloudWeb.Server.csproj" />
+  </ItemGroup>
+
+</Project>

PointCloudWeb.Server/PointCloudWeb.Server.Tests/Services/ScanConverterServiceTest.cs

@@ -0,0 +1,72 @@
+using PointCloudWeb.Server.Models;
+using PointCloudWeb.Server.Services;
+using System;
+using Xunit;
+
+namespace PointCloudWeb.Server.Tests.Services
+{
+    public class ScanConverterServiceTest
+    {
+
+        [Theory]
+        [InlineData(1, 1, 1)]
+        //[InlineData(-1, 1, 1)]
+        //[InlineData(1, -1, 1)]
+        //[InlineData(1, 1, -1)]
+        //[InlineData(-1, -1, 1)]
+        //[InlineData(-1, 1, -1)]
+        //[InlineData(1, -1, -1)]
+
+
+        //[InlineData(10, 15, 32)]
+        //[InlineData(5, 12, 7)]
+        //[InlineData(-5, 12, 7)]
+        //[InlineData(5, -12, 7)]
+        //[InlineData(5, 12, -7)]
+        //[InlineData(-5, -12, 7)]
+        //[InlineData(-5, 12, -7)]
+        //[InlineData(-5, -12, -7)]
+        //[InlineData(-22, 13, 11)]
+        public static void ScanConverterTest(int x, int y, int z)
+        {
+            var scan = new ScanDataPoint
+            {
+                RAX = 45,//(Math.Acos(y / Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2) + Math.Pow(z, 2))) * 180 / Math.PI),
+                RAY = 45,//(Math.Acos(z / Math.Sqrt(Math.Pow(z, 2) + Math.Pow(x, 2))) * 180 / Math.PI),
+                //RAY = 360 - (Math.Acos(z / Math.Sqrt(Math.Pow(z, 2) + Math.Pow(x, 2))) * 180 / Math.PI),
+                //RAY = 180 - (Math.Acos(z / Math.Sqrt(Math.Pow(z, 2) + Math.Pow(x, 2))) * 180 / Math.PI),
+                DistanceMM = (float)Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2) + Math.Pow(z, 2))
+            };
+
+            //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;
+            //}
+
+            var expected = new Point(x, y, z);
+
+            var service = new ScanConverterService();
+            var point = service.Transform(scan);
+            //Assert.Equal(expected, point);
+            Assert.True(
+                point.X >= expected.X - 1 && point.X <= expected.X + 1
+                    && point.Y >= expected.Y - 1 && point.Y <= expected.Y + 1
+                    && point.Z >= expected.Z - 1 && point.Z <= expected.Z + 1,
+                    "expected: " + expected.ToString() + " \nactual:   " + point.ToString() +
+                    "\nAX: " + scan.RAX + "\n AY: " + scan.RAY
+                    );
+        }
+    }
+}

PointCloudWeb.Server/PointCloudWeb.Server.sln

@@ -5,6 +5,8 @@ VisualStudioVersion = 16.0.31410.357
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PointCloudWeb.Server", "PointCloudWeb.Server\PointCloudWeb.Server.csproj", "{BD246537-F063-4A5A-8957-AF25E021132D}"
 EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PointCloudWeb.Server.Tests", "PointCloudWeb.Server.Tests\PointCloudWeb.Server.Tests.csproj", "{A2493168-0373-460F-8F1D-48F62ED804BA}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -15,6 +17,10 @@ Global
 		{BD246537-F063-4A5A-8957-AF25E021132D}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{BD246537-F063-4A5A-8957-AF25E021132D}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{BD246537-F063-4A5A-8957-AF25E021132D}.Release|Any CPU.Build.0 = Release|Any CPU
+		{A2493168-0373-460F-8F1D-48F62ED804BA}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{A2493168-0373-460F-8F1D-48F62ED804BA}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{A2493168-0373-460F-8F1D-48F62ED804BA}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{A2493168-0373-460F-8F1D-48F62ED804BA}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

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

@@ -6,21 +6,33 @@ namespace PointCloudWeb.Server.Models
 {
     public class Point
     {
-        public double X { get; set; }
+        public int X { get; set; }
-        public double Y { get; set; }
+        public int Y { get; set; }
-        public double Z { get; set; }
+        public int Z { get; set; }
 
 
         public Point() : this(0, 0, 0) { }
-        public Point(double x, double y, double z)
+        public Point(int x, int y, int z)
         {
             X = x;
             Y = y;
             Z = z;
         }
 
+        public override bool Equals(object obj)
+        {
+            if ((obj == null) || !GetType().Equals(obj.GetType()))
+                return false;
+            else
+            {
+                Point p = (Point)obj;
+                return (X == p.X) && (Y == p.Y) && (Z == p.Z);
+            }
+        }
+
 
         public override string ToString() => (X.ToString() + "  " + Y.ToString() + "  " + Z.ToString());
+        public override int GetHashCode() => HashCode.Combine(X, Y, Z);
     }
 
 
@@ -69,5 +81,4 @@ namespace PointCloudWeb.Server.Models
             Remove(GetById(id));
         }
     }
-
 }

PointCloudWeb.Server/PointCloudWeb.Server/Models/ScanData.cs

@@ -6,16 +6,29 @@ namespace PointCloudWeb.Server.Models
 {
     public class ScanDataPoint
     {
-        //RotationAngle on {Y,Z,X} Axis
+        //RotationAngle on {X, Y} Axis
-        public double RAY { get; set; }
-        public double RAZ { get; set; }
         public double RAX { get; set; }
-        public double DistanceMM { get; set; }
+        public double RAY { get; set; }
+        public float DistanceMM { get; set; }
+
+        public ScanDataPoint()
+        {
+            RAY = 0;
+            RAX = 0;
+            DistanceMM = 0;
+        }
+
+        public ScanDataPoint(double rax, double ray, float distanceMM) : this()
+        {
+            RAX = rax;
+            RAY = ray;
+            DistanceMM = distanceMM;
+        }
     }
 
     public class ScanDataList
     {
         public Guid Id { get; set; }
-        public IList<ScanDataPoint> List { get; set; }
+        public IList<ScanDataPoint> ScanPoints { get; set; }
     }
 }

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

@@ -8,13 +8,32 @@ namespace PointCloudWeb.Server.Services
     {
         private enum RotationAxis { X, Y, Z };
 
-        private Matrix4x4 GetTransformationMatrix(ScanDataPoint scan, RotationAxis type)
+        private static void CorrectQuadrants(double angle, ref float sin, ref float cos)
         {
-            var angle = type switch
+            if (angle < 0 || angle >= 360)
+                throw new ArgumentOutOfRangeException();
+            if (angle > 90 && angle < 180)
             {
-                RotationAxis.X => scan.RAX,
+                cos *= -1;
-                RotationAxis.Y => scan.RAY,
+            }
-                RotationAxis.Z => scan.RAZ,
+            else if (angle >= 180 && angle < 270)
+            {
+                sin *= -1;
+                cos *= -1;
+            }
+            else if (angle >= 270 && angle < 360)
+            {
+                sin *= -1;
+            }
+        }
+
+        private static Matrix4x4 GetTransformationMatrix(ScanDataPoint scan, RotationAxis type)
+        {
+            double angle = type switch
+            {
+                RotationAxis.X => scan.RAX,//360 - 90 + scan.RAX,
+                RotationAxis.Y => -scan.RAY,//360 - scan.RAY,
+                RotationAxis.Z => 0,//360 - scan.RAY,
                 _ => throw new NotImplementedException(),
             };
 
@@ -26,14 +45,22 @@ namespace PointCloudWeb.Server.Services
                     0, 0, 0, 1
                     );
 
-            var sin = (float)Math.Sin(angle);
+            angle %= 360;
-            var cos = (float)Math.Cos(angle);
+            if (angle < 0)
+                angle += 360;
+
+            var angleInR = angle * (Math.PI / 180.0);
+
+            var sin = (float)Math.Sin(angleInR);
+            var cos = (float)Math.Cos(angleInR);
+
+            //CorrectQuadrants(angle, ref sin, ref cos);
 
             return type switch
             {
                 RotationAxis.X => new Matrix4x4(
                                        1, 0, 0, 0,
-                                       0, sin, -sin, 0,
+                                       0, cos, -sin, 0,
                                        0, sin, cos, 0,
                                        0, 0, 0, 1
                                        ),
@@ -53,14 +80,26 @@ namespace PointCloudWeb.Server.Services
             };
         }
 
+
         public Point Transform(ScanDataPoint scan)
         {
-            Vector3 v = new Vector3(0, 0, (int)scan.DistanceMM);
+            Vector3 v = new Vector3(0, 0, 0);
-            Vector3.Transform(v, GetTransformationMatrix(scan, RotationAxis.X));
-            Vector3.Transform(v, GetTransformationMatrix(scan, RotationAxis.Z));
-            Vector3.Transform(v, GetTransformationMatrix(scan, RotationAxis.Y));
 
-            return new Point(v.X, v.Y, v.Z);
+            v.Z = scan.DistanceMM;
+
+            var matrixX = GetTransformationMatrix(scan, RotationAxis.X);
+            var matrixY = GetTransformationMatrix(scan, RotationAxis.Y);
+            var matrixZ = GetTransformationMatrix(scan, RotationAxis.Z);
+
+            v = Vector3.Transform(v, matrixX);
+            v = Vector3.Transform(v, matrixY);
+            v = Vector3.Transform(v, matrixZ);
+
+            return new Point(
+                (int)Math.Round(v.X, 0, MidpointRounding.AwayFromZero),
+                (int)Math.Round(v.Y, 0, MidpointRounding.AwayFromZero),
+                (int)Math.Round(v.Z, 0, MidpointRounding.AwayFromZero)
+                );
         }
     }
 }

PointCloudWeb.Server/PointCloudWeb.Server/Services/ScanDataService.cs

@@ -24,7 +24,7 @@ namespace PointCloudWeb.Server.Services
         {
             var list = new List<Point>();
 
-            foreach (var scan in scanData.List)
+            foreach (var scan in scanData.ScanPoints)
             {
                 list.Add(_scanConverterService.Transform(scan));
             }