diff --git a/PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/PointCloudWeb.Server.ScanConverter.csproj b/PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/PointCloudWeb.Server.ScanConverter.csproj
new file mode 100644
index 0000000..8dc6818
--- /dev/null
+++ b/PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/PointCloudWeb.Server.ScanConverter.csproj
@@ -0,0 +1,12 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>netcoreapp3.1</TargetFramework>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\PointCloudWeb.Server\PointCloudWeb.Server.csproj" />
+  </ItemGroup>
+
+</Project>
diff --git a/PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/Program.cs b/PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/Program.cs
new file mode 100644
index 0000000..b5f92ee
--- /dev/null
+++ b/PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/Program.cs
@@ -0,0 +1,49 @@
+using PointCloudWeb.Server.Models;
+using PointCloudWeb.Server.Services;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.IO;
+using System.Linq;
+
+namespace PointCloudWeb.Server.ScanConverter
+{
+    internal class Program
+    {
+        private static void Main(string[] args)
+        {
+            var scanPoints = File.ReadAllLines("C:\\Users\\timwu\\Desktop\\Scans\\0yGrad-edited-scan.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));
+                //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());
+
+            File.WriteAllText("C:\\Users\\timwu\\Desktop\\Scans\\0yGrad-pc.csv", csv);
+
+            Console.WriteLine("Convert finished");
+            Console.ReadLine();
+        }
+
+        private static ScanDataPoint ScanDataPointFromCsv(string csvLine)
+        {
+            string[] values = csvLine.Split(',');
+            return new ScanDataPoint(
+                ray: Convert.ToDouble(values[0], CultureInfo.InvariantCulture),
+                rax: Convert.ToDouble(values[1], CultureInfo.InvariantCulture),
+                distanceMM: Convert.ToInt32(values[2], CultureInfo.InvariantCulture)
+                );
+        }
+    }
+}
\ No newline at end of file
diff --git a/PointCloudWeb.Server/PointCloudWeb.Server.sln b/PointCloudWeb.Server/PointCloudWeb.Server.sln
index b0906d9..b8f953f 100644
--- a/PointCloudWeb.Server/PointCloudWeb.Server.sln
+++ b/PointCloudWeb.Server/PointCloudWeb.Server.sln
@@ -7,6 +7,11 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PointCloudWeb.Server", "Poi
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PointCloudWeb.Server.Tests", "PointCloudWeb.Server.Tests\PointCloudWeb.Server.Tests.csproj", "{A2493168-0373-460F-8F1D-48F62ED804BA}"
 EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PointCloudWeb.Server.ScanConverter", "PointCloudWeb.Server.ScanConverter\PointCloudWeb.Server.ScanConverter.csproj", "{BC69BBF4-FA13-44F4-97C3-2D49E4951087}"
+	ProjectSection(ProjectDependencies) = postProject
+		{BD246537-F063-4A5A-8957-AF25E021132D} = {BD246537-F063-4A5A-8957-AF25E021132D}
+	EndProjectSection
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -21,6 +26,10 @@ Global
 		{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
+		{BC69BBF4-FA13-44F4-97C3-2D49E4951087}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{BC69BBF4-FA13-44F4-97C3-2D49E4951087}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{BC69BBF4-FA13-44F4-97C3-2D49E4951087}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{BC69BBF4-FA13-44F4-97C3-2D49E4951087}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE