From f8e2e08886e6ab58cd80765cb0230db0f46dd3bd Mon Sep 17 00:00:00 2001
From: Tim Wundenberg <timwundenberg@outlook.de>
Date: Sun, 11 Jul 2021 10:14:43 +0200
Subject: [PATCH] Add ScanData Controller

---
 .../Controllers/ScanDataController.cs         | 24 ++++++
 PointCloudWeb.Server/Models/PointCloud.cs     | 73 +++++++++++++++++++
 PointCloudWeb.Server/Models/ScanData.cs       | 21 ++++++
 .../{ => Models}/WeatherForecast.cs           |  0
 .../Services/IPointCloudRegistration.cs       | 14 ++++
 .../Services/PointCloudService.cs             | 27 +++++++
 .../Services/ScanConverterService.cs          | 66 +++++++++++++++++
 .../Services/ScanDataService.cs               | 35 +++++++++
 8 files changed, 260 insertions(+)
 create mode 100644 PointCloudWeb.Server/Controllers/ScanDataController.cs
 create mode 100644 PointCloudWeb.Server/Models/PointCloud.cs
 create mode 100644 PointCloudWeb.Server/Models/ScanData.cs
 rename PointCloudWeb.Server/{ => Models}/WeatherForecast.cs (100%)
 create mode 100644 PointCloudWeb.Server/Services/IPointCloudRegistration.cs
 create mode 100644 PointCloudWeb.Server/Services/PointCloudService.cs
 create mode 100644 PointCloudWeb.Server/Services/ScanConverterService.cs
 create mode 100644 PointCloudWeb.Server/Services/ScanDataService.cs

diff --git a/PointCloudWeb.Server/Controllers/ScanDataController.cs b/PointCloudWeb.Server/Controllers/ScanDataController.cs
new file mode 100644
index 0000000..20b2154
--- /dev/null
+++ b/PointCloudWeb.Server/Controllers/ScanDataController.cs
@@ -0,0 +1,24 @@
+using Microsoft.AspNetCore.Mvc;
+using PointCloudWeb.Server.Models;
+using PointCloudWeb.Server.Services;
+
+namespace PointCloudWeb.Server.Controllers
+{
+    [ApiController]
+    [Route("[controller]")]
+    public class DataController : ControllerBase
+    {
+        private readonly DataService _scanDataService;
+
+        public DataController(DataService scanDataService)
+        {
+            _scanDataService = scanDataService;
+        }
+
+        [HttpPost]
+        public void PostScanData([FromBody] ScanDataList data)
+        {
+            _scanDataService.AddScan(data);
+        }
+    }
+}
diff --git a/PointCloudWeb.Server/Models/PointCloud.cs b/PointCloudWeb.Server/Models/PointCloud.cs
new file mode 100644
index 0000000..0c80d77
--- /dev/null
+++ b/PointCloudWeb.Server/Models/PointCloud.cs
@@ -0,0 +1,73 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace PointCloudWeb.Server.Models
+{
+    public class Point
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Z { get; set; }
+
+
+        public Point() : this(0, 0, 0) { }
+        public Point(double x, double y, double z)
+        {
+            X = x;
+            Y = y;
+            Z = z;
+        }
+
+
+        public override string ToString() => (X.ToString() + "  " + Y.ToString() + "  " + Z.ToString());
+    }
+
+
+    public class PointCloud
+    {
+        public Guid Id { get; private set; }
+        public string Name { get; set; }
+        public IList<Point> Points { get; private set; }
+
+        /// <summary>
+        ///     Function <c>ScaleFactor</c> defines relation between X/Y/Z distances in mm
+        ///     So, Point A(0,0,0) is 1mm from B(1,0,0) apart
+        /// </summary>
+        public static int ScaleFactor() => 1;
+
+        public PointCloud(String name, Guid id)
+        {
+            Points = new List<Point>();
+            Id = id;
+            Name = name;
+        }
+    }
+
+    public class PointCloudCollection : List<PointCloud>
+    {
+        public PointCloud GetById(Guid id)
+        {
+            return this.First(pc => pc.Id == id);
+        }
+
+        public PointCloud AddNew()
+        {
+            var id = Guid.NewGuid();
+            var pc = new PointCloud(id.ToString(), id);
+            Add(pc);
+            return pc;
+        }
+
+        public bool Contains(Guid id)
+        {
+            return this.Any(pc => pc.Id == id);
+        }
+
+        public void RemoveById(Guid id)
+        {
+            Remove(GetById(id));
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/PointCloudWeb.Server/Models/ScanData.cs b/PointCloudWeb.Server/Models/ScanData.cs
new file mode 100644
index 0000000..28b2644
--- /dev/null
+++ b/PointCloudWeb.Server/Models/ScanData.cs
@@ -0,0 +1,21 @@
+
+using System;
+using System.Collections.Generic;
+
+namespace PointCloudWeb.Server.Models
+{
+    public class ScanDataPoint
+    {
+        //RotationAngle on {Y,Z,X} Axis
+        public double RAY { get; set; }
+        public double RAZ { get; set; }
+        public double RAX { get; set; }
+        public double DistanceMM { get; set; }
+    }
+
+    public class ScanDataList
+    {
+        public Guid Id { get; set; }
+        public IList<ScanDataPoint> List { get; set; }
+    }
+}
\ No newline at end of file
diff --git a/PointCloudWeb.Server/WeatherForecast.cs b/PointCloudWeb.Server/Models/WeatherForecast.cs
similarity index 100%
rename from PointCloudWeb.Server/WeatherForecast.cs
rename to PointCloudWeb.Server/Models/WeatherForecast.cs
diff --git a/PointCloudWeb.Server/Services/IPointCloudRegistration.cs b/PointCloudWeb.Server/Services/IPointCloudRegistration.cs
new file mode 100644
index 0000000..d0929be
--- /dev/null
+++ b/PointCloudWeb.Server/Services/IPointCloudRegistration.cs
@@ -0,0 +1,14 @@
+using PointCloudWeb.Server.Models;
+
+namespace PointCloudWeb.Server.Services
+{
+    public interface IPointCloudRegistation
+    {
+        class TransformationMatrix { }
+
+        public TransformationMatrix RegisterPointCloud(PointCloud pc1, PointCloud pc2)
+        {
+            return null;
+        }
+    }
+}
\ No newline at end of file
diff --git a/PointCloudWeb.Server/Services/PointCloudService.cs b/PointCloudWeb.Server/Services/PointCloudService.cs
new file mode 100644
index 0000000..76f86fd
--- /dev/null
+++ b/PointCloudWeb.Server/Services/PointCloudService.cs
@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using PointCloudWeb.Server.Models;
+
+namespace PointCloudWeb.Server.Services
+{
+    public class PointCloudService
+    {
+        private readonly PointCloudCollection _pointClouds;
+
+        public PointCloudService()
+        {
+            _pointClouds = new PointCloudCollection();
+        }
+
+        public void AddPoints(Guid id, IList<Point> points)
+        {
+            if (!_pointClouds.Contains(id))
+                throw new ArgumentOutOfRangeException("The Id {0} was not found!", id.ToString());
+
+            var pc = _pointClouds.GetById(id);
+
+            foreach (var point in points)
+                pc.Points.Add(point);
+        }
+    }
+}
\ No newline at end of file
diff --git a/PointCloudWeb.Server/Services/ScanConverterService.cs b/PointCloudWeb.Server/Services/ScanConverterService.cs
new file mode 100644
index 0000000..5b7ba9e
--- /dev/null
+++ b/PointCloudWeb.Server/Services/ScanConverterService.cs
@@ -0,0 +1,66 @@
+using System;
+using System.Numerics;
+using PointCloudWeb.Server.Models;
+
+namespace PointCloudWeb.Server.Services
+{
+    public class ScanConverterService
+    {
+        private enum RotationAxis { X, Y, Z };
+
+        private Matrix4x4 GetTransformationMatrix(ScanDataPoint scan, RotationAxis type)
+        {
+            var angle = type switch
+            {
+                RotationAxis.X => scan.RAX,
+                RotationAxis.Y => scan.RAY,
+                RotationAxis.Z => scan.RAZ,
+                _ => throw new NotImplementedException(),
+            };
+
+            if (angle == 0)
+                return new Matrix4x4(
+                    1, 0, 0, 0,
+                    0, 1, 0, 0,
+                    0, 0, 1, 0,
+                    0, 0, 0, 1
+                    );
+
+            var sin = (float)Math.Sin(angle);
+            var cos = (float)Math.Cos(angle);
+
+            return type switch
+            {
+                RotationAxis.X => new Matrix4x4(
+                                       1, 0, 0, 0,
+                                       0, sin, -sin, 0,
+                                       0, sin, cos, 0,
+                                       0, 0, 0, 1
+                                       ),
+                RotationAxis.Y => new Matrix4x4(
+                                      cos, 0, sin, 0,
+                                      0, 1, 0, 0,
+                                      -sin, 0, cos, 0,
+                                      0, 0, 0, 1
+                                      ),
+                RotationAxis.Z => new Matrix4x4(
+                                      cos, -sin, 0, 0,
+                                      sin, cos, 0, 0,
+                                      0, 0, 1, 0,
+                                      0, 0, 0, 1
+                                      ),
+                _ => throw new NotImplementedException(),
+            };
+        }
+
+        public Point Transform(ScanDataPoint scan)
+        {
+            Vector3 v = new Vector3(0, 0, (int)scan.DistanceMM);
+            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);
+        }
+    }
+}
\ No newline at end of file
diff --git a/PointCloudWeb.Server/Services/ScanDataService.cs b/PointCloudWeb.Server/Services/ScanDataService.cs
new file mode 100644
index 0000000..92b887c
--- /dev/null
+++ b/PointCloudWeb.Server/Services/ScanDataService.cs
@@ -0,0 +1,35 @@
+using System;
+using System.Collections.Generic;
+using PointCloudWeb.Server.Models;
+
+namespace PointCloudWeb.Server.Services
+{
+    public class DataService
+    {
+        private readonly PointCloudService _pointCloudService;
+        private readonly ScanConverterService _scanConverterService;
+
+        public DataService(PointCloudService pointCloudService, ScanConverterService scanConverterService)
+        {
+            _pointCloudService = pointCloudService;
+            _scanConverterService = scanConverterService;
+        }
+
+        public void AddScan(ScanDataList scanData)
+        {
+            _pointCloudService.AddPoints(scanData.Id, ConvertToPoints(scanData));
+        }
+
+        private IList<Point> ConvertToPoints(ScanDataList scanData)
+        {
+            var list = new List<Point>();
+
+            foreach (var scan in scanData.List)
+            {
+                list.Add(_scanConverterService.Transform(scan));
+            }
+
+            return list;
+        }
+    }
+}
\ No newline at end of file