testing eigenthings (3ece274b) · Commits · Elphel / x3domlet

js/numeric/numeric.js

0 → 100644

+3263 −0

File added.

Preview size limit exceeded, changes collapsed.

js/x3dom_deltas.js

+343 −15

Original line number	Diff line number	Diff line
		@@ -9,31 +9,300 @@ 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_k1,e2_k30,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_k0.00038e1_d,e1_k0.00038e1_d,2e1_ke1_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(" "));

		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
		);

		$("#deltasphere").remove();
		$("#deltalink").remove();
		console.log(RE1n.toString());

		var transl = [p_w.x,p_w.y,p_w.z].join(",");
		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>',
		' <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);

		//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 = [k0.00038d,k0.00038d,2kd*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="green" transparency="0.5"></material>',
		' <material diffuseColor="'+color+'" transparency="0.5"></material>',
		' </appearance>',
		' <sphere radius="'+(x3dom_markersize()/2)+'"></sphere>',
		' <sphere radius="1"></sphere>',
		' </shape>',
		' </transform>',
		' </transform>',
		' </transform>',
		' </switch>',
		'</group>'
		].join('\n');
		@@ -41,20 +310,22 @@ function x3dom_delta_markers(){
		var sphere_element = $(html);
		$('scene',Scene.element).append(sphere_element);

		//$(".my-markers").find("material").attr("transparency","0.5");
		}

		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 = 4.380.0001d
		// b = 4.380.0001d
		// c = dd/10000 or dd/25000

		function x3dom_ellipsoid_inertia_tensor(m,a,b,c){

		var Jxx = 1/5m(bb+cc);
		var Jyy = 1/5m(aa+cc);
		var Jzz = 1/5m(aa+bb);

		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

+2 −0

Original line number	Diff line number	Diff line
		@@ -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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