1. weights 2. zNear fixe

js/align_functions.js

@@ -170,6 +170,13 @@ function hll_dr_dh_i(i,v){
   return 1;
 }
 
+/**
+ * weight function
+ */
+
+function hll_w_i(i,v){
+  return 1;
+}
 
 /**
  * Functions for relative altitude, tilt and roll
@@ -203,7 +210,7 @@ function art_r_i(i,v){
   var f1 = art_f_3d_i(i,v);
   var f2 = art_f_map_i(i,v);
   //return (f1-f2+360)%360;
-  return (f1-f2)/art_l_i(i);
+  return (f1-f2);
 }
 
 function art_dr_dx_i(i,v){
@@ -217,7 +224,7 @@ function art_dr_dx_i(i,v){
       res += -Math.sin(v[0])*Math.cos(v[1])*yi;
       res += -Math.cos(v[0])*zi;
 
-  return res/art_l_i(i);
+  return res;
 
 }
 
@@ -231,7 +238,7 @@ function art_dr_dy_i(i,v){
   var res  = -Math.cos(v[0])*Math.cos(v[1])*xi;
       res += -Math.cos(v[0])*Math.sin(v[1])*yi;
 
-  return res/art_l_i(i);
+  return res;
 
 }
 
@@ -246,7 +253,10 @@ function art_l_i(i){
   var yi = mark.align.y;
   var zi = mark.align.z;
 
-  return Math.sqrt(xi*xi+yi*yi+zi*zi);
+  return Math.sqrt(Math.pow(xi,2)+Math.pow(yi,2)+Math.pow(zi,2));
 
 }
 
+function art_w_i(i,v){
+  return 1/art_l_i(i);
+}

js/numbers/numbers.calculus.extra.js

@@ -38,7 +38,7 @@
  * @eps {Number} precision
  *
  */
-numbers.calculus.GaussNewton = function(v,n,r,dr,eps){
+numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
 
   var epsilon = eps || 1e-8
   var limit = 1000
@@ -47,6 +47,12 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps){
   var counter = 0
   var v0 = v
 
+  if (w===undefined){
+    w = function(){
+      return 1;
+    };
+  }
+
   while(!stop){
 
     counter++
@@ -102,13 +108,15 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps){
 
   function sigma(v,n,r){
 
-    var sum = 0;
+    var sum = 0
+    var wsum = 0
 
     for(var i=0;i<n;i++){
       sum += r(i,v)*r(i,v)
+      wsum += w(i,v)
     }
 
-    sum = Math.sqrt(sum/n)
+    sum = Math.sqrt(sum/wsum)
 
     return sum
 
@@ -122,7 +130,7 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps){
 
       var row = []
       for(var j=0;j<dr.length;j++){
-        row.push(dr[j](i,v))
+        row.push(w(i,v)*dr[j](i,v))
       }
       J[i] = row
 

js/ui_align.js

@@ -131,7 +131,7 @@ function x3dom_align_hll(){
 
   var xyh = [x0,y0,(h0>180)?h0-360:h0];
 
-  var result = numbers.calculus.GaussNewton(xyh,Data.markers.length,hll_r_i,[hll_dr_dx_i,hll_dr_dy_i,hll_dr_dh_i],epsilon);
+  var result = numbers.calculus.GaussNewton(xyh,Data.markers.length,hll_r_i,[hll_dr_dx_i,hll_dr_dy_i,hll_dr_dh_i],epsilon,hll_w_i);
 
   xyh = result.v;
   var s1 = result.error;
@@ -271,7 +271,7 @@ function x3dom_align_art(){
   }
 
   var epsilon = 1e-8;
-  var result = numbers.calculus.GaussNewton([0,0,0],Data.markers.length,art_r_i,[art_dr_dx_i,art_dr_dy_i,art_dr_da_i],epsilon);
+  var result = numbers.calculus.GaussNewton([0,0,0],Data.markers.length,art_r_i,[art_dr_dx_i,art_dr_dy_i,art_dr_da_i],epsilon,art_w_i);
 
   console.log(result);
 

js/x3dom_functions.js

@@ -99,7 +99,7 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
             y = xyz[1];
             z = xyz[2];
 
-            dist_xz  = Math.sqrt(Math.pow(x-xc,2)+Math.pow(z-zc,2));
+            //dist_xz  = Math.sqrt(Math.pow(x-xc,2)+Math.pow(z-zc,2));
 
         }else{
 
@@ -107,16 +107,17 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
             y = Data.markers[index].y;
             z = Data.markers[index].z;
 
+            /*
             dist_xz  = Data.markers[index].d_x3d;
             if (isNaN(dist_xz)){
                 dist_xz  = Math.sqrt(Math.pow(x-xc,2)+Math.pow(z-zc,2));;
             }
+            */
         }
 
-        dist_xyz = Math.sqrt(Math.pow(y-yc,2)+Math.pow(dist_xz,2));
+        //dist_xyz = Math.sqrt(Math.pow(y-yc,2)+Math.pow(dist_xz,2));
         id = $(shootRay.pickObject).attr("id");
 
-
     }else{
 
         var viewingRay = elem.runtime.getViewingRay(cnvx,cnvy);
@@ -125,14 +126,14 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
         y = viewingRay.dir.y;
         z = viewingRay.dir.z;
 
-        dist_xz = null;
-        dist_xyz = null;
+        //dist_xz = null;
+        //dist_xyz = null;
 
         valid_distance = false;
     }
 
     var R0 = Data.camera.Matrices.R0;
-    var p_w = new x3dom.fields.SFVec3f(x,y,z);
+    var p_w = new x3dom.fields.SFVec3f(x-xc,y-yc,z-zc);
     var p_rw = R0.multMatrixVec(p_w);
 
     if (valid_distance){