combined ellipse matched

js/x3dom_deltas.js

@@ -30,9 +30,19 @@ function x3dom_delta_markers(){
   // just a coefficient
   var e2_k = 1/2;
   var e2_abc = [e2_k*1,e2_k*30,e2_k*1];
-  var e2_scale = e2_abc.join(",");
+  //var e2_scale = e2_abc.join(",");
   //x3dom_draw_ellipsoid("e2","green",e2_c.toString(),"",e2_scale);
 
+  x3dom_draw_ellipsoid_by_semiaxes_and_center("e2","green",{
+    O:  e2_c,
+    Ox: new x3dom.fields.SFVec3f(e2_abc[0],         0,         0),
+    Oy: new x3dom.fields.SFVec3f(        0, e2_abc[1],         0),
+    Oz: new x3dom.fields.SFVec3f(        0,         0, e2_abc[2])
+  },0.0);
+
+  var RE2 = x3dom.fields.SFMatrix4f.identity();
+  //RE2.setValue(xa,ya,za);
+
   // draw ellipsoid axes
   //var xa = new x3dom.fields.SFVec3f(1,0,0);
   //var ya = new x3dom.fields.SFVec3f(0,1,0);
@@ -62,8 +72,8 @@ function x3dom_delta_markers(){
   var e1_d = x3dom_3d_distance(e1_c.x,e1_c.y,e1_c.z,false);
   var e1_k = 20;
   var e1_abc = [e1_k*0.00038*e1_d,e1_k*0.00038*e1_d,2*e1_k*e1_d*e1_d/10000];
-  var e1_scale = e1_abc.join(",");
-  console.log("e1 scale: "+e1_scale);
+
+  console.log("e1 abc: "+e1_abc.join(" "));
 
   // draw ellipsoid axes
   var e1_dir  = e1_c;
@@ -73,13 +83,15 @@ function x3dom_delta_markers(){
   var ya = xa.cross(e1_dir);
   var za = e1_dir.negate();
 
-  x3dom_draw_line("xa","red",  e2_c, e2_c.add(xa.multiply(e1_abc[0])));
-  x3dom_draw_line("ya","green",e2_c, e2_c.add(ya.multiply(e1_abc[1])));
-  x3dom_draw_line("za","blue", e2_c, e2_c.add(za.multiply(e1_abc[2])));
+  // need to normalize?
+  /*
+  xa = xa.normalize();
+  ya = ya.normalize();
+  za = za.normalize();
+  */
 
-  //console.log(xa.toString());
-  //console.log(ya.toString());
-  //console.log(za.toString());
+  var R0 = Data.camera.Matrices.R0;
+  var R0i = R0.inverse();
 
   // next construct rotation matrix
   var RE1 = x3dom.fields.SFMatrix4f.identity();
@@ -87,204 +99,97 @@ function x3dom_delta_markers(){
 
   console.log(RE1.toString());
 
-  var translation = new x3dom.fields.SFVec3f(0,0,0);
-  var scaleFactor = new x3dom.fields.SFVec3f(1,1,1);
-  var rotation = new x3dom.fields.Quaternion(0,0,1,0);
-  var scaleOrientation = new x3dom.fields.Quaternion(0,0,1,0);
-  RE1.getTransform(translation, rotation, scaleFactor, scaleOrientation);
+  x3dom_draw_ellipsoid_by_semiaxes_and_center("e1b","green",{
+    O:  e2_c,
+    Ox: xa.multiply(e1_abc[0]),
+    Oy: ya.multiply(e1_abc[1]),
+    Oz: za.multiply(e1_abc[2])
+  },0.0);
 
-  var q = rotation.toAxisAngle();
-  var q_str = q[0].toString()+" "+q[1];
+  // now let's get to covariance matrix
+  var JE1 = x3dom_ellipsoid_inertia_tensor_v2(1,e1_abc[0],e1_abc[1],e1_abc[2]);
+  var RE1xJE1 = RE1.mult(JE1);
 
-  x3dom_draw_ellipsoid("e1b","green",e2_c,q_str,e1_scale);
+  var JE2 = x3dom_ellipsoid_inertia_tensor_v2(1,e2_abc[0],e2_abc[1],e2_abc[2]);
+  var RE2xJE2 = RE2.mult(JE2);
 
-  // now let's get to covariance matrix
-  var JE1 = x3dom_ellipsoid_inertia_tensor(1,e1_abc[0],e1_abc[1],e1_abc[2]);
-  var RE1i = RE1.inverse();
-  var RE1iJE1 = RE1i.mult(JE1);
+  var C1 = RE1xJE1.mult(RE1xJE1.transpose());
+  var C2 = RE2xJE2.mult(RE2xJE2.transpose());
 
-  var C = RE1iJE1.mult(RE1iJE1.transpose());
+  var C = C1.add(C2);
 
   Cn = matrix_x3dom_to_numeric(C);
   Bn = numeric.eig(Cn);
 
   console.log(Bn);
 
-  var m = 1/5;
-
-  var jxx = Math.sqrt(Bn.lambda.x[0]);
-  var jyy = Math.sqrt(Bn.lambda.x[1]);
-  var jzz = Math.sqrt(Bn.lambda.x[2]);
-
-  var ee_a = Math.sqrt(1/2/m*(jyy+jzz-jxx));
-  var ee_b = Math.sqrt(1/2/m*(jxx+jzz-jyy));
-  var ee_c = Math.sqrt(1/2/m*(jxx+jyy-jzz));
+  var ee_a = Math.sqrt(Bn.lambda.x[0]);
+  var ee_b = Math.sqrt(Bn.lambda.x[1]);
+  var ee_c = Math.sqrt(Bn.lambda.x[2]);
 
-  console.log("e1 restored scale: "+[ee_a,ee_b,ee_c].join(" "));
+  console.log("e1 restored abc: "+[ee_a,ee_b,ee_c].join(" "));
 
   var RE1n = new x3dom.fields.SFMatrix4f(
-               Bn.E.x[0][0], Bn.E.x[1][0], Bn.E.x[2][0], 0,
-               Bn.E.x[0][1], Bn.E.x[1][1], Bn.E.x[2][1], 0,
-               Bn.E.x[0][2], Bn.E.x[1][2], Bn.E.x[2][2], 0,
+               Bn.E.x[0][0], Bn.E.x[0][1], Bn.E.x[0][2], 0,
+               Bn.E.x[1][0], Bn.E.x[1][1], Bn.E.x[1][2], 0,
+               Bn.E.x[2][0], Bn.E.x[2][1], Bn.E.x[2][2], 0,
                           0,             0,           0, 1
              );
 
   console.log(RE1n.toString());
 
-  return 0;
-
-  //$(".my-markers").find("material").attr("transparency","0.5");
-
-  //$("#deltalink").remove();
-
-  var coords = [
-    "0 0 0",
-    p_w.x+" "+p_w.y+" "+p_w.z,
-    marker.x+" "+marker.y+" "+marker.z,
-    "0 0 0",
-  ].join(" ");
+  x3dom_draw_ellipsoid_by_semiaxes_and_center("e1c","red",{
+    O:  e2_c,
+    Ox: RE1n.e0().multiply(ee_a),
+    Oy: RE1n.e1().multiply(ee_b),
+    Oz: RE1n.e2().multiply(ee_c)
+  },0.5);
 
-  var html = [
-    '<group id="deltalink" class="deltalink">',
-    '  <switch whichChoice="0">',
-    '    <transform>',
-    '      <shape>',
-    '        <appearance>',
-    '          <material emissiveColor="white" transparency="0.0"></material>',
-    '        </appearance>',
-    '        <lineset vertexCount="4" solid="true" ccw="true" lit="true">',
-    '          <coordinate point="'+coords+'"></coordinate>',
-    '        </lineset>',
-    '      </shape>',
-    '    </transform>',
-    '  </switch>',
-    '</group>'
-  ].join('\n');
-
-  var sphere_element = $(html);
-  $('scene',Scene.element).append(sphere_element);
+  return 0;
 
-  //var d = x3dom_3d_distance(p_w.x,p_w.y,p_w.z,false);
-  var d = x3dom_3d_distance(marker.x,marker.y,marker.z,false);
-  //console.log("Distance to pointe is "+d);
+}
 
-  // z-axis
-  var mark_dir  = new x3dom.fields.SFVec3f(marker.x,marker.y,marker.z);
-  mark_dir = mark_dir.normalize();
+/*
+ e is an object
+  {
+    O:  x3dom.fields.SFVec3f()
+    Ox: x3dom.fields.SFVec3f()
+    Oy: x3dom.fields.SFVec3f()
+    Oz: x3dom.fields.SFVec3f()
+  }
+*/
+function x3dom_draw_ellipsoid_by_semiaxes_and_center(id,color,e,transparency=0.5){
 
-  var world_y = new x3dom.fields.SFVec3f(0,1,0);
+  var transl = e.O.toString();
+  var scale = [e.Ox.length(),e.Oy.length(),e.Oz.length()].join(" ");
 
-  var mark_x = mark_dir.cross(world_y);
-  var mark_y = mark_x.cross(mark_dir);
-  var mark_z = mark_dir.negate();
+  var xa = e.Ox.normalize();
+  var ya = e.Oy.normalize();
+  var za = e.Oz.normalize();
 
-  var M = x3dom.fields.SFMatrix4f.lookAt(new x3dom.fields.SFVec3f(0,0,0), mark_dir, mark_y);
+  var R = x3dom.fields.SFMatrix4f.identity();
+  R.setValue(xa,ya,za);
 
   var translation = new x3dom.fields.SFVec3f(0,0,0);
   var scaleFactor = new x3dom.fields.SFVec3f(1,1,1);
   var rotation = new x3dom.fields.Quaternion(0,0,1,0);
   var scaleOrientation = new x3dom.fields.Quaternion(0,0,1,0);
-  M.getTransform(translation, rotation, scaleFactor, scaleOrientation);
-
-  console.log("Rotation matrix");
-  console.log(M.toString());
-
-  // draw vectors?!
-
-  var aa = rotation.toAxisAngle();
-  var aa_string = aa[0].toString()+" "+aa[1];
-
-  //
-  // now draw the 1st ellipse
-  //
-  mark_dir  = new x3dom.fields.SFVec3f(marker.x,marker.y,marker.z);
-  var k = 20;
-  var e1_abc = [k*0.00038*d,k*0.00038*d,2*k*d*d/10000];
-  var model_scale = e1_abc.join(",");
-
-  // at marker
-  //x3dom_draw_ellipsoid("e2a","gold",mark_dir.toString(),aa_string,model_scale);
-  // overlayed
-  //x3dom_draw_ellipsoid("e1b","green",transl,aa_string,model_scale);
-
-  // now Covariance
-
-  // E1 (model, tilted):
-  var J1 = x3dom_ellipsoid_inertia_tensor(1,e1_abc[0],e1_abc[1],e1_abc[2]);
-  var R1 = M;
-  var R1i = R1.inverse();
-  var R1iJ1 = R1i.mult(J1);
-
-  // E2 (map, vertical):
-  var J2 = x3dom_ellipsoid_inertia_tensor(1,e2_abc[0],e2_abc[1],e2_abc[2]);
-  var R2 = new x3dom.fields.SFMatrix4f(
-              1, 0, 0, 0,
-              0, 1, 0, 0,
-              0, 0, 1, 0,
-              0, 0, 0, 1
-           );
-  var R2i = R2.inverse();
-  var R2iJ2 = R2i.mult(J2);
-
-  var   C = R1iJ1.mult(R1iJ1.transpose());
-  //var   C = R2iJ2.mult(R2iJ2.transpose());
-  //C = C.add(R2iJ2.mult(R2iJ2.transpose()));
-
-  Cnum = matrix_x3dom_to_numeric(C);
-  Bnum = numeric.eig(Cnum);
-
-  var point = new x3dom.fields.SFVec3f(p_w.x,p_w.y,p_w.z);
-
-  var RNEW = new x3dom.fields.SFMatrix4f(
-              Bnum.E.x[0][0], Bnum.E.x[1][0], Bnum.E.x[2][0], 0,
-              Bnum.E.x[0][1], Bnum.E.x[1][1], Bnum.E.x[2][1], 0,
-              Bnum.E.x[0][2], Bnum.E.x[1][2], Bnum.E.x[2][2], 0,
-                           0,              0,              0, 1
-           );
-
-  console.log("R new");
-  console.log(Rnew.toString());
-
-  var xnew = new x3dom.fields.SFVec3f(Bnum.E.x[0][0],Bnum.E.x[1][0],Bnum.E.x[2][0]);
-  var ynew = new x3dom.fields.SFVec3f(Bnum.E.x[0][1],Bnum.E.x[1][1],Bnum.E.x[2][1]);
-  var znew = new x3dom.fields.SFVec3f(Bnum.E.x[0][2],Bnum.E.x[1][2],Bnum.E.x[2][2]);
 
-  var m = 1/5;
+  R.getTransform(translation, rotation, scaleFactor, scaleOrientation);
 
-  var jxx = Math.sqrt(Bnum.lambda.x[0]);
-  var jyy = Math.sqrt(Bnum.lambda.x[1]);
-  var jzz = Math.sqrt(Bnum.lambda.x[2]);
-
-  var ee_a = Math.sqrt(1/2/m*(jyy+jzz-jxx));
-  var ee_b = Math.sqrt(1/2/m*(jxx+jzz-jyy));
-  var ee_c = Math.sqrt(1/2/m*(jxx+jyy-jzz));
-
-  //x3dom_draw_line("yaxis","green",point, point.add(ynew.multiply(ee_b)));
-
-  x3dom_draw_line("xaxis","red",  point, point.add(xnew.multiply(ee_a)));
-  x3dom_draw_line("yaxis","green",point, point.add(ynew.multiply(ee_b)));
-  x3dom_draw_line("zaxis","blue", point, point.add(znew.multiply(ee_c)));
-
-  console.log("Covariance matrix");
-  console.log(C.toString());
-
-  // now what if I get transform from this?
-  var translation = new x3dom.fields.SFVec3f(0,0,0);
-  var scaleFactor = new x3dom.fields.SFVec3f(1,1,1);
-  var rotation = new x3dom.fields.Quaternion(0,0,1,0);
-  var scaleOrientation = new x3dom.fields.Quaternion(0,0,1,0);
-  C.getTransform(translation, rotation, scaleFactor, scaleOrientation);
+  var q = rotation.toAxisAngle();
+  var q_str = q[0].toString()+" "+q[1];
 
-  console.log("Covariance decomposition");
-  console.log(translation.toString());
-  console.log(rotation.toString());
-  console.log(scaleFactor.toString());
-  console.log(scaleOrientation.toString());
+  // draw semi-axes
+  x3dom_draw_line("xa","red",   e.O, e.O.add(e.Ox));
+  x3dom_draw_line("ya","green", e.O, e.O.add(e.Oy));
+  x3dom_draw_line("za","blue",  e.O, e.O.add(e.Oz));
 
+  x3dom_draw_ellipsoid(id,color,transl,q_str,scale,transparency);
 
 }
 
-function x3dom_draw_ellipsoid(id,color,transl,rotat,scale){
+function x3dom_draw_ellipsoid(id,color,transl,rotat,scale,transparency=0.5){
 
   $("#"+id).remove();
 
@@ -296,7 +201,7 @@ function x3dom_draw_ellipsoid(id,color,transl,rotat,scale){
     '        <transform scale="'+scale+'" >',
     '          <shape>',
     '            <appearance>',
-    '               <material diffuseColor="'+color+'" transparency="0.5"></material>',
+    '               <material diffuseColor="'+color+'" transparency="'+transparency+'"></material>',
     '            </appearance>',
     '            <sphere radius="1"></sphere>',
     '          </shape>',
@@ -370,6 +275,17 @@ function x3dom_ellipsoid_inertia_tensor(m,a,b,c){
 
 }
 
+function x3dom_ellipsoid_inertia_tensor_v2(m,a,b,c){
+
+    return new x3dom.fields.SFMatrix4f(
+          a, 0, 0, 0,
+          0, b, 0, 0,
+          0, 0, c, 0,
+          0, 0, 0, 1
+    );
+
+}
+
 // also from 4x4 to 3x3
 function matrix_x3dom_to_numeric(m){