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Commit 3ece274b authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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testing eigenthings

parent 140dcf82
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js/numeric/numeric.js 0 → 100644
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js/x3dom_deltas.js
View file @ 3ece274b
......@@ -9,29 +9,152 @@ function x3dom_delta_markers(){
var marker = Data.markers[index];
//console.log(marker.latitude+", "+marker.longitude);
var Camera = Map.marker;
var p_mark_ll = new L.LatLng(marker.latitude, marker.longitude);
var p_cam_ll = Camera._latlng;
//var p_cam_ll = Camera._latlng;
var p_cam_ll = new L.LatLng(Data.camera.kml.latitude,Data.camera.kml.longitude);
var p_w = x3dom_delta_map2scene(p_cam_ll, p_mark_ll);
//p_w = x3dom_scene_to_real(p_w.x,p_w.y,p_w.z);
// vertical ellipse's center
var e2_c = p_w;
// depth ellipse's center
var e1_c = new x3dom.fields.SFVec3f(marker.x,marker.y,marker.z);
// E2: draw vertical ellipsoid
// 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(",");
//x3dom_draw_ellipsoid("e2","green",e2_c.toString(),"",e2_scale);
// draw ellipsoid axes
//var xa = new x3dom.fields.SFVec3f(1,0,0);
//var ya = new x3dom.fields.SFVec3f(0,1,0);
//var za = new x3dom.fields.SFVec3f(0,0,1);
//x3dom_draw_line("xa","red", e2_c, e2_c.add(xa.multiply(e2_abc[0])));
//x3dom_draw_line("ya","green",e2_c, e2_c.add(ya.multiply(e2_abc[1])));
//x3dom_draw_line("za","blue", e2_c, e2_c.add(za.multiply(e2_abc[2])));
// to 0,0,0
//x3dom_draw_line("test0","white", e2_c, new x3dom.fields.SFVec3f(0,0,0));
//x3dom_draw_line("test1","tomato", new x3dom.fields.SFVec3f(0,0,0), new x3dom.fields.SFVec3f(100,0,0));
//x3dom_draw_line("test2","seagreen", new x3dom.fields.SFVec3f(0,0,0), new x3dom.fields.SFVec3f(0,100,0));
//x3dom_draw_line("test3","royalblue", new x3dom.fields.SFVec3f(0,0,0), new x3dom.fields.SFVec3f(0,0,100));
//x3dom_draw_line("test4","royalblue", e2_c.add(za.multiply(e2_abc[2])), new x3dom.fields.SFVec3f(0,0,100));
// e1 direction
x3dom_draw_line("helper_line0","white", e1_c, new x3dom.fields.SFVec3f(0,0,0));
// e1 direction from e2_c
x3dom_draw_line("helper_line1","white", e2_c.add(e1_c), e2_c.subtract(e1_c));
// E1: draw tilted ellipsoid
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);
// draw ellipsoid axes
var e1_dir = e1_c;
e1_dir = e1_dir.normalize();
var xa = e1_dir.cross(new x3dom.fields.SFVec3f(0,1,0));
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])));
//console.log(xa.toString());
//console.log(ya.toString());
//console.log(za.toString());
// next construct rotation matrix
var RE1 = x3dom.fields.SFMatrix4f.identity();
RE1.setValue(xa,ya,za);
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);
var q = rotation.toAxisAngle();
var q_str = q[0].toString()+" "+q[1];
x3dom_draw_ellipsoid("e1b","green",e2_c,q_str,e1_scale);
// 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 C = RE1iJE1.mult(RE1iJE1.transpose());
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));
console.log("e1 restored scale: "+[ee_a,ee_b,ee_c].join(" "));
$("#deltasphere").remove();
$("#deltalink").remove();
var RE1n = new x3dom.fields.SFMatrix4f(
Bn.E.x[0][0], Bn.E.x[1][0], Bn.E.x[2][0], 0,
Bn.E.x[0][1], Bn.E.x[1][1], Bn.E.x[2][1], 0,
Bn.E.x[0][2], Bn.E.x[1][2], Bn.E.x[2][2], 0,
0, 0, 0, 1
);
var transl = [p_w.x,p_w.y,p_w.z].join(",");
console.log(RE1n.toString());
return 0;
//$(".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(" ");
var html = [
'<group id="deltasphere" class="deltasphere">',
'<group id="deltalink" class="deltalink">',
' <switch whichChoice="0">',
' <transform translation="'+transl+'" >',
' <transform>',
' <shape>',
' <appearance>',
' <material diffuseColor="green" transparency="0.5"></material>',
' <material emissiveColor="white" transparency="0.0"></material>',
' </appearance>',
' <sphere radius="'+(x3dom_markersize()/2)+'"></sphere>',
' <lineset vertexCount="4" solid="true" ccw="true" lit="true">',
' <coordinate point="'+coords+'"></coordinate>',
' </lineset>',
' </shape>',
' </transform>',
' </switch>',
......@@ -41,20 +164,168 @@ function x3dom_delta_markers(){
var sphere_element = $(html);
$('scene',Scene.element).append(sphere_element);
//$(".my-markers").find("material").attr("transparency","0.5");
//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();
var world_y = new x3dom.fields.SFVec3f(0,1,0);
var mark_x = mark_dir.cross(world_y);
var mark_y = mark_x.cross(mark_dir);
var mark_z = mark_dir.negate();
var M = x3dom.fields.SFMatrix4f.lookAt(new x3dom.fields.SFVec3f(0,0,0), mark_dir, mark_y);
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;
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);
console.log("Covariance decomposition");
console.log(translation.toString());
console.log(rotation.toString());
console.log(scaleFactor.toString());
console.log(scaleOrientation.toString());
}
function x3dom_draw_ellipsoid(id,color,transl,rotat,scale){
$("#"+id).remove();
var html = [
'<group id="'+id+'">',
' <switch whichChoice="0">',
' <transform translation="'+transl+'" >',
' <transform rotation="'+rotat+'" >',
' <transform scale="'+scale+'" >',
' <shape>',
' <appearance>',
' <material diffuseColor="'+color+'" transparency="0.5"></material>',
' </appearance>',
' <sphere radius="1"></sphere>',
' </shape>',
' </transform>',
' </transform>',
' </transform>',
' </switch>',
'</group>'
].join('\n');
var sphere_element = $(html);
$('scene',Scene.element).append(sphere_element);
}
function x3dom_draw_line(id,color,p1,p2){
var coords = [
p_w.x+" "+p_w.y+" "+p_w.z,
marker.x+" "+marker.y+" "+marker.z,
p1.x+" "+p1.y+" "+p1.z,
p2.x+" "+p2.y+" "+p2.z
].join(" ");
var html = [
'<group id="deltalink" class="deltalink">',
'<group id="'+id+'">',
' <switch whichChoice="0">',
' <transform>',
' <shape>',
' <appearance>',
' <material emissiveColor="white" transparency="0.0"></material>',
' <material emissiveColor="'+color+'" transparency="0.0"></material>',
' </appearance>',
' <lineset vertexCount="2" solid="true" ccw="true" lit="true">',
' <coordinate point="'+coords+'"></coordinate>',
......@@ -68,5 +339,62 @@ function x3dom_delta_markers(){
var sphere_element = $(html);
$('scene',Scene.element).append(sphere_element);
}
// Ellipsoids parameters:
// For map:
// m = 1,
// a = 0.1
// b = 0.1
// c = 30 or 50? or 100?
// For model (depends on distance):
// m = 1
// a = 4.38*0.0001*d
// b = 4.38*0.0001*d
// c = d*d/10000 or d*d/25000
function x3dom_ellipsoid_inertia_tensor(m,a,b,c){
var Jxx = 1/5*m*(b*b+c*c);
var Jyy = 1/5*m*(a*a+c*c);
var Jzz = 1/5*m*(a*a+b*b);
return new x3dom.fields.SFMatrix4f(
Jxx, 0, 0, 0,
0, Jyy, 0, 0,
0, 0, Jzz, 0,
0, 0, 0, 1
);
}
// also from 4x4 to 3x3
function matrix_x3dom_to_numeric(m){
return [
[m._00, m._01, m._02],
[m._10, m._11, m._12],
[m._20, m._21, m._22]
];
}
viewer.html
View file @ 3ece274b
......@@ -25,6 +25,8 @@
<script type='text/javascript' src='js/leaflet/leaflet.camera-view-marker.js'></script>
<script type='text/javascript' src='js/leaflet/leaflet.camera-view-marker.measure.js'></script>
<script type='text/javascript' src='js/numeric/numeric.js'></script>
<script type='text/javascript' src='js/numbers/numbers.js'></script>
<script type='text/javascript' src='js/numbers/numbers.matrix.extra.js'></script>
<script type='text/javascript' src='js/numbers/numbers.calculus.extra.js'></script>
......
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