Commit 5e599a5e authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
Browse files

fixed south 2 + test set

parent b35f45d3

js/ui_align.js

+31 −9
Original line number Original line Diff line number Diff line
@@ -42,7 +42,9 @@ function align_init(){ 
    $("#align_button").on("click",function(){

    $("#align_button").on("click",function(){

        //align_heading();

        //align_heading();

        //test_markers_set1();

        //test_markers_set1();

        if (DEBUG_ALIGN) test_markers_set2();

        //if (DEBUG_ALIGN) test_markers_set1();

        //if (DEBUG_ALIGN) test_markers_set2();

        if (DEBUG_ALIGN) test_markers_set3();

        x3dom_align_GN();

        x3dom_align_GN();

    });

    });
@@ -122,6 +124,8 @@ function x3dom_align_GN(){ 
  var y0 = Data.camera.kml.longitude;

  var y0 = Data.camera.kml.longitude;

  var h0 = Data.camera.kml.heading;

  var h0 = Data.camera.kml.heading;





  //if (h0>180) h0 = h0 - 360;



  //tests

  //tests

  //test_AxB();

  //test_AxB();

  //test_At();

  //test_At();
@@ -133,7 +137,7 @@ function x3dom_align_GN(){ 
  var iterate = true;

  var iterate = true;

  var counter = 0;

  var counter = 0;

  var result = 0;

  var result = 0;

  var xyh = [x0,y0,h0];

  var xyh = [x0,y0,(h0>180)?h0-360:h0];





  while(iterate){

  while(iterate){
@@ -148,8 +152,8 @@ function x3dom_align_GN(){ 




    //console.log("Interation: "+counter+" for "+xyh[0]+" "+xyh[1]+" "+xyh[2]);

    //console.log("Interation: "+counter+" for "+xyh[0]+" "+xyh[1]+" "+xyh[2]);

    xyh_new = GaussNewtonAlgorithm(xyh[0],xyh[1],xyh[2]);

    xyh_new = GaussNewtonAlgorithm(xyh[0],xyh[1],xyh[2]);



    //if (xyh_new[2]<-180) xyh_new[2] += 360;

    if (DEBUG_ALIGN) console.log(xyh_new);

    //if (xyh_new[2]> 180) xyh_new[2] -= 360;





    var s0 = sigma(xyh[0],xyh[1],xyh[2]);

    var s0 = sigma(xyh[0],xyh[1],xyh[2]);

    var s1 = sigma(xyh_new[0],xyh_new[1],xyh_new[2]);

    var s1 = sigma(xyh_new[0],xyh_new[1],xyh_new[2]);
@@ -159,10 +163,11 @@ function x3dom_align_GN(){ 
      iterate = false;

      iterate = false;

    }

    }





    //console.log("Errors: "+(xyh_new[0]-xyh[0])+" "+(xyh_new[1]-xyh[1])+" "+(xyh_new[2]-xyh[2]));

    if(DEBUG_ALIGN){

    //console.log("Iteration "+counter+" result: "+xyh_new[0]+" "+xyh_new[1]+" "+xyh_new[2]);

      console.log("Errors: "+(xyh_new[0]-xyh[0])+" "+(xyh_new[1]-xyh[1])+" "+(xyh_new[2]-xyh[2]));



      console.log("Iteration "+counter+" result: "+xyh_new[0]+" "+xyh_new[1]+" "+xyh_new[2]);

    //console.log("Error function value: "+sigma(xyh_new[0],xyh_new[1],xyh_new[2]));

      console.log("Error function value: "+sigma(xyh_new[0],xyh_new[1],xyh_new[2]));

    }





    if (counter==1000){

    if (counter==1000){

      iterate = false;

      iterate = false;
@@ -268,7 +273,10 @@ function f2_map_i(i,x,y,h){ 
 * residuals function

 * residuals function

 */

 */

function r_i(i,x,y,h){

function r_i(i,x,y,h){

  return (f1_3d_i(i,x,y,h)-f2_map_i(i,x,y,h));

  var f1 = f1_3d_i(i,x,y,h);

  var f2 = f2_map_i(i,x,y,h);

  //return (f1-f2+360)%360;

  return (f1-f2);

}

}





/*

/*
@@ -728,3 +736,17 @@ function test_markers_set2(){ 




}

}





// bad set, needed more points

function test_markers_set3(){



  Data.camera.kml.latitude  = 40.79437830462248;

  Data.camera.kml.longitude = -111.90397158265115;

  Data.camera.kml.heading   = 249.4439547804165;



  Data.markers = [

    {d_map:0, d_x3d:0, align:{  latitude: 40.79412143437496, longitude: -111.90607845783235, x: 13.930790294993443, y: 17.628990742021394, z:  -154.9656658238599  }},

    {d_map:0, d_x3d:0, align:{  latitude: 40.79364474960238, longitude: -111.90520875155927, x: -30.99517183539921, y:  8.62831993127737, z: -92.96031068292253  }},

    {d_map:0, d_x3d:0, align:{  latitude: 40.79441790113347,  longitude: -111.90620452165605, x:34.451361546214116,  y: 30.539873602241727,  z: -133.39148171966684  }}

  ];



}
 
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