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Add ScanData Controller

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This commit is contained in:
Tim Wundenberg
2021-07-11 10:14:43 +02:00
parent 0cf75695b4
commit f8e2e08886
8 changed files with 260 additions and 0 deletions
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66
PointCloudWeb.Server/Services/ScanConverterService.cs Normal file
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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);
}
}
}