related to optimization

  //var result = numbers.calculus.GaussNewton(xyh,Data.markers.length,hll3_r_i,[hll3_dr_dx_i,hll3_dr_dy_i],epsilon,hll3_w_i);

  //var result = numbers.calculus.GaussNewton(xyh,Data.markers.length,hll3_r_i,[hll3_dr_dx_i,hll3_dr_dy_i],epsilon,hll3_w_i);

  var result = numbers.calculus.GaussNewton_forHeading(xyh,Data.markers.length,hll3_r_i,[hll3_dr_dx_i,hll3_dr_dy_i],epsilon,hll3_w_i);

  //var result = numbers.calculus.GaussNewton_forHeading(xyh,Data.markers.length,hll3_r_i,[hll3_dr_dx_i,hll3_dr_dy_i],epsilon,hll3_w_i);

  /*

  var rs_i = [hll4a_r_i,hll4b_r_i];

  var rs_i = [hll3_r_i,hll3_r_i];

  var drs_i = [

  var drs_i = [

    [hll3_dr_dx_i, hll3_dr_dy_i],

    [hll4a_dr_dx_i, hll4a_dr_dy_i],

    [hll3_dr_dx_i, hll3_dr_dy_i]

    [hll4b_dr_dx_i, hll4b_dr_dy_i]

  ];

  ];

  var ws_i = [hll3_w_i,hll3_w_i];

  var ws_i = [hll4a_w_i,hll4b_w_i];

  */

  var result = numbers.calculus.GaussNewton_nD(xyh,Data.markers.length,rs_i,drs_i,epsilon,ws_i);

  // print result as csv

  var history = result.history;

  var history_csved = "";

  var markers_csved = "";

  //var result = numbers.calculus.GaussNewton_nD(xyh,Data.markers.length,rs_i,drs_i,epsilon,ws_i);

  // print markers data

  for(var i=0;i<Data.markers.length;i++){

    var mark = Data.markers[i];

    markers_csved += mark.align.latitude+","+mark.align.longitude+"\n";

  }

  console.log(markers_csved);

  //print initial approximation

  var initial_csved = Data.camera.kml.latitude+","+Data.camera.kml.longitude;

  console.log(initial_csved);

  // print history

  for(var i=0;i<history.length;i++){

    history_csved += history[i][0]+","+history[i][1]+"\n";

  }

  console.log(history_csved);

  xyh = [result.v[0],result.v[1],h0];

  xyh = [result.v[0],result.v[1],h0];