new ScanConverter method

PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/Program.cs

@@ -48,9 +48,6 @@ namespace PointCloudWeb.Server.ScanConverter
             //scan.RAY = (scan.RAY + 90) % 360;
             
             return scan;
-            if (scan.RAX == 1) return scan;
-            
-            return new ScanDataPoint();
         }
     }
 }

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

@@ -63,7 +63,6 @@ namespace PointCloudWeb.Server.Tests.Services
 
             var expected = new Point(x, y, z);
 
-            var service = new ScanConverterService();
             var point = ScanConverterService.Transform(scan);
             Assert.Equal(expected, point);
         }

PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudService.cs

@@ -3,7 +3,6 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
 using PointCloudWeb.Server.Models;
-using PointCloudWeb.Server.Utils;
 
 namespace PointCloudWeb.Server.Services
 {
@@ -38,7 +37,7 @@ namespace PointCloudWeb.Server.Services
 
         private void InitSampleData()
         {
-            EthTestData.CreateData(this);
+            //EthTestData.CreateData(this);
         }
 
         private void RaiseIfNotExists(Guid id)
@@ -61,7 +60,7 @@ namespace PointCloudWeb.Server.Services
 
         public PointCloud AddPointCloud(Guid? id = null)
         {
-            if (id != null && _pointClouds.Contains(id))
+            if (_pointClouds.Contains(id))
                 throw new ArgumentOutOfRangeException($"Add of existing id \"{id}\" not possible!");
 
             var pc = new PointCloud(id ?? Guid.NewGuid(), $"Scan #{_pointClouds.Count + 1}");

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

@@ -1,6 +1,5 @@
 using System;
 using PointCloudWeb.Server.Models;
-using PointCloudWeb.Server.Utils;
 
 namespace PointCloudWeb.Server.Services
 {
@@ -8,73 +7,14 @@ namespace PointCloudWeb.Server.Services
     {
         public static Point Transform(ScanDataPoint scan)
         {
-            // if (scan.RAX >= 90 || scan.RAY >= 90)
+            var alpha = scan.RAX * Math.PI / 180;
-            //     return new Point(0, 0, 0);
+            var beta = scan.RAY * Math.PI / 180;
 
-            var degreeXa = (scan.RAX) % 360;
+            var p = new Point(
-            var degreeYa = scan.RAY;
+                y: (int)(scan.DistanceMM * Math.Sin(alpha)),
-
+                x: (int)(scan.DistanceMM * Math.Cos(beta) * Math.Cos(alpha)),
-            var factorY = 1;
+                z: (int)(scan.DistanceMM * Math.Sin(beta) * Math.Cos(alpha))
-            var factorZ = 1;
-            if (180 <= degreeXa && degreeXa <= 360)
-            {
-                factorY = -1;
-                factorZ = -1;
-            }
-
-            var degreeXb = 180 - 90 - degreeXa;
-            var degreeYb = 180 - 90 - degreeYa;
-
-            var radXa = degreeXa * Math.PI / 180;
-            var radXb = degreeXb * Math.PI / 180;
-            var radYa = degreeYa * Math.PI / 180;
-            var radYb = degreeYb * Math.PI / 180;
-
-            var sinXa = Math.Sin(radXa);
-            var sinXb = Math.Sin(radXb);
-            var sinYa = Math.Sin(radYa);
-            var sinYb = Math.Sin(radYb);
-
-            if (sinXa == 0)
-            {
-                sinXa = 1;
-                sinXb = 0;
-            }
-
-            if (sinYa == 0)
-            {
-                sinYa = 1;
-                sinYb = 0;
-            }
-
-            var z = Math.Sqrt(
-                Math.Pow(
-                    Math.Pow(sinXb, 2) / Math.Pow(sinXa, 2)
-                    + Math.Pow(sinYb, 2) / Math.Pow(sinYa, 2)
-                    + 1
-                    , -1)
-                * Math.Pow(scan.DistanceMM, 2)
             );
-
-            var p = new Point
-            {
-                X = NumericUtils.Round(z * sinYb / sinYa),
-                Y = factorY * NumericUtils.Round(z * sinXb / sinXa),
-                Z = factorZ * NumericUtils.Round(z)
-            };
-            //return p;
-
-            //https://stackoverflow.com/questions/52781607/3d-point-from-two-angles-and-a-distance
-            var beta = radYa;
-            var alpha = radXa;
-
-            p = new Point
-            {
-                Y = (int)(scan.DistanceMM * Math.Sin(alpha)),
-                X = (int)(scan.DistanceMM * Math.Cos(beta) * Math.Cos(alpha)),
-                Z = (int)(scan.DistanceMM * Math.Sin(beta) * Math.Cos(alpha))
-            };
-
             return p;
         }
     }

PointCloudWeb.Server/PointCloudWeb.Server/Utils/EthTestData.cs

@@ -38,12 +38,10 @@ namespace PointCloudWeb.Server.Utils
         public static void CreateData(PointCloudService pointCloudService)
         {
             var pc = pointCloudService.AddPointCloud();
-            pc.Name = "Scan 1";
             LoadPointCloudFromEthFile(pc, "ETH-Data/Hokuyo_0.csv");
             pointCloudService.PointCloudCompleted(pc.Id);
 
             pc = pointCloudService.AddPointCloud();
-            pc.Name = "Scan 2";
             LoadPointCloudFromEthFile(pc, "ETH-Data/Hokuyo_1.csv");
             pointCloudService.PointCloudCompleted(pc.Id);
         }