1. matching function 2. partial derivs for rotation matrix

js/ui.css

@@ -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

@@ -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

+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

@@ -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

@@ -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>