Commit 583463e8 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
Browse files

1. matching function 2. partial derivs for rotation matrix

parent b6eab19c

js/ui.css

+1 −1
Original line number Diff line number Diff line
@@ -426,6 +426,6 @@ html, body, #x3d_wrapper { 
  text-align:right;

}



#mpr_save, #mpr_save_marks{

#mpr_save, #mpr_save_marks,#mpr_match{

  margin: 0px 5px 5px 5px;

}

js/ui_extra_models.js

+36 −6
Original line number Diff line number Diff line
@@ -94,6 +94,7 @@ function manualposor_init(){ 
      '<div>',

      '  <div><button id=\'mpr_save\'>save kmls</button></div>',

      '  <div><button id=\'mpr_save_marks\' title=\'save to file\' >save marks</button></div>',

      '  <div><button id=\'mpr_match\' title=\'run models matching algorithm\' >Match models</button></div>',

      '</div>',

    ].join('\n'));
@@ -212,12 +213,18 @@ function manualposor_init(){ 


    });



    $("#mpr_match").on('click',function(){

      x3dom_align_models();

    });



}



function mpr_marks_load(){



  $.ajax({



    url: [SETTINGS.basepath,SETTINGS.path,"marks.xml"].join("/"),



    success: function(response){



      $(response).find("record").each(function(){
@@ -229,20 +236,28 @@ function mpr_marks_load(){ 
        var p1    = $(marks[0]).attr("position").split(",");

        var p1l   = new x3dom.fields.SFVec3f(p1[0],p1[1],p1[2]);



        var c1    = $(marks[0]).attr("camera").split(",");

        var c1l   = new x3dom.fields.SFVec3f(c1[0],c1[1],c1[2]);



        var name2 = $(marks[1]).attr("model");

        var p2    = $(marks[1]).attr("position").split(",");

        var p2l   = new x3dom.fields.SFVec3f(p2[0],p2[1],p2[2]);



        var c2    = $(marks[1]).attr("camera").split(",");

        var c2l   = new x3dom.fields.SFVec3f(c2[0],c2[1],c2[2]);



        // local position is constant

        Data.mpr.markers.push({

          uid: uid,

          m1:{

            name: name1,

            position: p1l

            position: p1l,

            camera: c1l

          },

          m2:{

            name: name2,

            position: p2l

            position: p2l,

            camera: c2l

          }

        });
@@ -251,9 +266,17 @@ function mpr_marks_load(){ 
      MPR_MARKS_LOADED = true;



    },



    error: function(response){



      if (response.status==200){

        this.success(response.responseText);

      }else{

        console.log("mpr markers failed");

      }

      MPR_MARKS_LOADED = true;

    }



  });



}
@@ -900,13 +923,18 @@ function manualposor_newMarksPair(ray1,ray2){ 
  var size = 1*SETTINGS.markersize_k*d;

  var color = x3dom_autocolor();



  var vmat = Scene.element.runtime.viewMatrix().inverse();

  var camera = vmat.e3();



  var target1 = $("inline[name=x3d_"+name1+"]");

  var m = x3dom_getTransorm_from_2_parents(target1);

  var p1l = m.inverse().multMatrixVec(p1);

  var c1l = m.inverse().multMatrixVec(camera);



  var target2 = $("inline[name=x3d_"+name2+"]");

  m = x3dom_getTransorm_from_2_parents(target2);

  var p2l = m.inverse().multMatrixVec(p2);

  var c2l = m.inverse().multMatrixVec(camera);



  new MPRMarker({target:target1.parent(), uid:uid, model:name1, position:p1l, size: size, color: color});

  new MPRMarker({target:target2.parent(), uid:uid, model:name2, position:p2l, size: size, color: color});
@@ -916,11 +944,13 @@ function manualposor_newMarksPair(ray1,ray2){ 
    uid: uid,

    m1:{

      name: name1,

      position: p1l

      position: p1l,

      camera: c1l

    },

    m2:{

      name: name2,

      position: p2l

      position: p2l,

      camera: c2l

    }

  });
@@ -1032,8 +1062,8 @@ function mpr_markers_to_xml(){ 


    str[i] = [

      '  <record uid=\''+rec.uid+'\'>',

      '    <mark model=\''+rec.m1.name+'\' position=\''+rec.m1.position.x+','+rec.m1.position.y+','+rec.m1.position.z+'\'></mark>',

      '    <mark model=\''+rec.m2.name+'\' position=\''+rec.m2.position.x+','+rec.m2.position.y+','+rec.m2.position.z+'\'></mark>',

      '    <mark model=\''+rec.m1.name+'\' position=\''+rec.m1.position.x+','+rec.m1.position.y+','+rec.m1.position.z+'\' camera=\''+rec.m1.camera.x+','+rec.m1.camera.y+','+rec.m1.camera.z+'\'></mark>',

      '    <mark model=\''+rec.m2.name+'\' position=\''+rec.m2.position.x+','+rec.m2.position.y+','+rec.m2.position.z+'\' camera=\''+rec.m2.camera.x+','+rec.m2.camera.y+','+rec.m2.camera.z+'\'></mark>',

      '  </record>'

    ].join("\n");

js/ui_extra_models_match.js

0 → 100644
+205 −0
Original line number Diff line number Diff line 
function x3dom_align_models(){



  // do models have to loaded?



  var marks = Data.mpr.markers;



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



    console.log("Marks pair # "+i);



    var mark = marks[i];



    var inline1 = $('inline[name=x3d_'+mark.m1.name+']');

    var inline2 = $('inline[name=x3d_'+mark.m2.name+']');



    if((inline1.length!=0)&&(inline2.length!=0)){



      var p1_1 = mark.m1.position;

      var p2_2 = mark.m2.position;



      var c1 = mark.m1.camera;

      var c2 = mark.m2.camera;



      var m1 = x3dom_getTransorm_from_2_parents(inline1);

      var m2 = x3dom_getTransorm_from_2_parents(inline2);



      // from inline2 to inline1

      var m = m1.inverse().mult(m2);

      // p2 in inline1's coordinates

      var p2_1 = m.multMatrixVec(p2_2);



      var v1 = p1_1.subtract(c1);

      var v2 = p2_1.subtract(c1);

      var vcro = v1.cross(v2);

      var vsca = v1.dot(v2);

      console.log("  before scaling:"+vcro.toString());

      console.log("  scalar product:"+vsca);

      vcro = vcro.multiply(1/vsca);

      console.log("  after  scaling:"+vcro.toString());

      console.log("          length:"+vcro.length());



//       // from inline1 to inline2

//       m = m.inverse();

//       // p1 in inline2's coordinates

//       var p1_2 = m.multMatrixVec(p1_1);

//

//       var v1 = p1_2.subtract(c2);

//       var v2 = p2_2.subtract(c2);

//       var vcro = v1.cross(v2);

//       var vsca = v1.dot(v2);

//       console.log("  before scaling:"+vcro.toString());

//       console.log("  scalar product:"+vsca);

//       vcro = vcro.multiply(1/vsca);

//       console.log("  after  scaling:"+vcro.toString());

//       console.log("          length:"+vcro.length());



    }



  }



}



function mpr_R(d){



  var sin = Math.sin;

  var cos = Math.cos;



  var _00 = sin(d.psi)*sin(d.theta)*sin(d.phi)+cos(d.psi)*cos(d.phi);

  var _01 = -sin(d.psi)*sin(d.theta)*cos(d.phi)+cos(d.psi)*sin(d.phi);

  var _02 = -sin(d.psi)*cos(d.theta);

  var _03 = -d.x;



  var _10 = -cos(d.theta)*sin(d.phi);

  var _11 = cos(d.theta)*cos(d.phi);

  var _12 = -sin(d.theta);

  var _13 = -d.y;



  var _20 = -cos(d.psi)*sin(d.theta)*sin(d.phi)+sin(d.psi)*cos(d.phi);

  var _21 = cos(d.psi)*sin(d.theta)*cos(d.phi)+sin(d.psi)*sin(d.phi);

  var _22 = cos(d.psi)*cos(d.theta);

  var _23 = -d.z;



  var _30 = 0;

  var _31 = 0;

  var _32 = 0;

  var _33 = 1;



  var m = new x3dom.fields.SFMatrix4f(

    _00, _01, _02, _03,

    _10, _11, _12, _13,

    _20, _21, _22, _23,

    _30, _31, _32, _33

  );



  return m;



}



function mpr_dR_dpsi(d){



  var sin = Math.sin;

  var cos = Math.cos;



  var _00 = cos(d.psi)*sin(d.theta)*sin(d.phi)-sin(d.psi)*cos(d.phi);

  var _01 = -cos(d.psi)*sin(d.theta)*cos(d.phi)-sin(d.psi)*sin(d.phi);

  var _02 = -cos(d.psi)*cos(d.theta);

  var _03 = 0;



  var _10 = 0;

  var _11 = 0;

  var _12 = 0;

  var _13 = 0;



  var _20 = sin(d.psi)*sin(d.theta)*sin(d.phi)+cos(d.psi)*cos(d.phi);

  var _21 = -sin(d.psi)*sin(d.theta)*cos(d.phi)+cos(d.psi)*sin(d.phi);

  var _22 = -sin(d.psi)*cos(d.theta);

  var _23 = 0;



  var _30 = 0;

  var _31 = 0;

  var _32 = 0;

  var _33 = 0;



  var m = new x3dom.fields.SFMatrix4f(

    _00, _01, _02, _03,

    _10, _11, _12, _13,

    _20, _21, _22, _23,

    _30, _31, _32, _33

  );



  return m;



}



function mpr_dR_dtheta(d){



  var sin = Math.sin;

  var cos = Math.cos;



  var _00 = sin(d.psi)*cos(d.theta)*sin(d.phi);

  var _01 = -sin(d.psi)*cos(d.theta)*cos(d.phi);

  var _02 = sin(d.psi)*sin(d.theta);

  var _03 = 0;



  var _10 = sin(d.theta)*sin(d.phi);

  var _11 = -sin(d.theta)*cos(d.phi);

  var _12 = -cos(d.theta);

  var _13 = 0;



  var _20 = -cos(d.psi)*cos(d.theta)*sin(d.phi);

  var _21 = cos(d.psi)*cos(d.theta)*cos(d.phi);

  var _22 = -cos(d.psi)*sin(d.theta);

  var _23 = 0;



  var _30 = 0;

  var _31 = 0;

  var _32 = 0;

  var _33 = 0;



  var m = new x3dom.fields.SFMatrix4f(

    _00, _01, _02, _03,

    _10, _11, _12, _13,

    _20, _21, _22, _23,

    _30, _31, _32, _33

  );



  return m;



}



function mpr_dR_dphi(d){



  var sin = Math.sin;

  var cos = Math.cos;



  var _00 = sin(d.psi)*sin(d.theta)*cos(d.phi)-cos(d.psi)*sin(d.phi);

  var _01 = sin(d.psi)*sin(d.theta)*sin(d.phi)+cos(d.psi)*cos(d.phi);

  var _02 = 0;

  var _03 = 0;



  var _10 = -cos(d.theta)*cos(d.phi);

  var _11 = -cos(d.theta)*sin(d.phi);

  var _12 = 0;

  var _13 = 0;



  var _20 = -cos(d.psi)*sin(d.theta)*cos(d.phi)-sin(d.psi)*sin(d.phi);

  var _21 = -cos(d.psi)*sin(d.theta)*sin(d.phi)+sin(d.psi)*cos(d.phi);

  var _22 = 0;

  var _23 = 0;



  var _30 = 0;

  var _31 = 0;

  var _32 = 0;

  var _33 = 0;



  var m = new x3dom.fields.SFMatrix4f(

    _00, _01, _02, _03,

    _10, _11, _12, _13,

    _20, _21, _22, _23,

    _30, _31, _32, _33

  );



  return m;



}

js/ui_init.js

+3 −1
Original line number Diff line number Diff line
@@ -447,6 +447,8 @@ function deep_init(){ 


          if (SETTINGS.manualposor){



            if (!MPR_MARKS_LOADED) mpr_marks_load();



            manualposor_shootrays();

            manualposor_rotate_glued();
@@ -468,7 +470,7 @@ function deep_init(){ 


            x3d_setShiftSpeed();



            if (!MPR_MARKS_LOADED) mpr_marks_load();

            //if (!MPR_MARKS_LOADED) mpr_marks_load();

        }



        // loading extra models?

viewer.html

+1 −0
Original line number Diff line number Diff line
@@ -42,6 +42,7 @@ 
    <script type='text/javascript' src='js/ui_functions.js'></script>

    <script type='text/javascript' src='js/ui_align.js'></script>

    <script type='text/javascript' src='js/ui_extra_models.js'></script>

    <script type='text/javascript' src='js/ui_extra_models_match.js'></script>



    <script type='text/javascript' src='js/align_functions.js'></script>