tilt and roll adjustment - in development

js/ui_align.js

@@ -409,6 +409,11 @@ function x3dom_align_tr(){
 
   console.log("Tilt: "+tilt+" Roll: "+roll);
 
+  var epsilon = 1e-8;
+  var result = numbers.calculus.GaussNewton([0,0,0],Data.markers.length,_r_i,[_dr_dx_i,_dr_dy_i,_dr_da_i],epsilon);
+
+  console.log(result);
+
 }
 
 /*
@@ -420,6 +425,80 @@ function align_roll(){
 
 }
 
+function _f1_3d_i(i,v){
+
+  var mark = Data.markers[i];
+  var xi = mark.align.x;
+  var yi = mark.align.y;
+  var zi = mark.align.z;
+
+  var res  = -Math.cos(v[0])*Math.sin(v[1])*xi;
+      res +=  Math.cos(v[0])*Math.cos(v[1])*yi;
+      res += -Math.sin(v[0])*zi;
+
+  return res;
+
+}
+
+function _f2_map_i(i,v){
+
+  var mark = Data.markers[i];
+  return (v[2]+mark.align.altitude);
+
+}
+
+function _r_i(i,v){
+
+  var f1 = _f1_3d_i(i,v);
+  var f2 = _f2_map_i(i,v);
+  //return (f1-f2+360)%360;
+  return (f1-f2)/_l_i(i);
+}
+
+function _dr_dx_i(i,v){
+
+  var mark = Data.markers[i];
+  var xi = mark.align.x;
+  var yi = mark.align.y;
+  var zi = mark.align.z;
+
+  var res  =  Math.sin(v[0])*Math.sin(v[1])*xi;
+      res += -Math.sin(v[0])*Math.cos(v[1])*yi;
+      res += -Math.cos(v[0])*zi;
+
+  return res/_l_i(i);
+
+}
+
+function _dr_dy_i(i,v){
+
+  var mark = Data.markers[i];
+  var xi = mark.align.x;
+  var yi = mark.align.y;
+  var zi = mark.align.z;
+
+  var res  = -Math.cos(v[0])*Math.cos(v[1])*xi;
+      res += -Math.cos(v[0])*Math.sin(v[1])*yi;
+
+  return res/_l_i(i);
+
+}
+
+function _dr_da_i(i,v){
+  return 1;
+}
+
+function _l_i(i){
+
+  var mark = Data.markers[i];
+  var xi = mark.align.x;
+  var yi = mark.align.y;
+  var zi = mark.align.z;
+
+  return Math.sqrt(xi*xi+yi*yi+zi*zi);
+
+}
+
 /*
  * not used
  */

js/ui_init.js

@@ -626,6 +626,7 @@ function leaf_events(){
                 mark.align = {
                   latitude: mark.latitude,
                   longitude: mark.longitude,
+                  altitude: 0,
                   x: 0,
                   y: 0,
                   z: 0
@@ -788,6 +789,8 @@ function leaf_drag_marker(){
 
 function leaf_update_x3dom_marker(p1_ll,p2_ll,index){
 
+  var Camera = Map.marker;
+
   var mark = Data.markers[index];
 
   var hecs = Map.marker.getHCState();
@@ -797,6 +800,7 @@ function leaf_update_x3dom_marker(p1_ll,p2_ll,index){
 
   mark.align.latitude = mark.latitude;
   mark.align.longitude = mark.longitude;
+  mark.align.altitude = Camera._measureMarkers[index]._altitude;
 
   var distance = p1_ll.distanceTo(p2_ll);
 

js/x3dom_init.js

@@ -1381,6 +1381,7 @@ X3DOMObject.createNewMarker = function(x,y,z){
   mark.align = {
     latitude: 0,
     longitude: 0,
+    altitude: 0,
     x: mark.x,
     y: mark.y,
     z: mark.z