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fix scan transformation for y° = 0

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This commit is contained in:
Tim Wundenberg
2021-08-01 20:05:15 +02:00
parent 419a468dc5
commit ab4f98f76c
6 changed files with 56 additions and 28 deletions
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26
PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/Program.cs
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@@ -12,38 +12,48 @@ namespace PointCloudWeb.Server.ScanConverter
{
private static void Main()
{
var scanPoints = File.ReadAllLines("C:\\Users\\timwu\\Desktop\\Scans\\0yGrad-edited-scan.csv")
var scanPoints = File.ReadAllLines("C:/Users/timwu/Desktop/Scans/0yGrad-scan-org.csv")
.Select(v => ScanDataPointFromCsv(v))
.Where(scan => scan.DistanceMM > 0)
.ToList();
var result = new List<Point>();
var converter = new ScanConverterService();
foreach (var scan in scanPoints)
{
result.Add(converter.Transform(scan));
result.Add(ScanConverterService.Transform(scan));
//Console.WriteLine(result.Count + ":: " + scan.ToString() + " => " + result[result.Count - 1].ToString());
}
result.RemoveAll(point => point.X == 0 && point.Y == 0 & point.Z == 0);
string csv = String.Join("\n", result.Select(point => point.X + ", " + point.Y + ", " + point.Z).ToArray());
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.csv", csv);
File.WriteAllText("C:\\Users\\timwu\\Desktop\\Scans\\0yGrad-pc-org.csv", csv);
Console.WriteLine("Convert finished");
Console.ReadLine();
// Console.ReadLine();
}
private static ScanDataPoint ScanDataPointFromCsv(string csvLine)
{
string[] values = csvLine.Split(',');
return new ScanDataPoint(
var scan = new ScanDataPoint(
ray: Convert.ToDouble(values[0], CultureInfo.InvariantCulture),
rax: Convert.ToDouble(values[1], CultureInfo.InvariantCulture),
distanceMM: Convert.ToInt32(values[2], CultureInfo.InvariantCulture)
distanceMM: (int)Convert.ToDouble(values[2], CultureInfo.InvariantCulture)
);
//scan.RAX += 90;
// scan.RAY += 90;
//scan.RAX %= 360;
// scan.RAY %= 360;
return scan;
if (scan.RAX == 1) return scan;
return new ScanDataPoint();
}
}
}