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x3domlet
Commit 8760fe49 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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tested C^-1=AtA

parent a1777793
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Showing with 87 additions and 85 deletions
js/x3dom_deltas.js
View file @ 8760fe49
......@@ -26,7 +26,19 @@ function x3dom_delta_markers(){
roll: Data.camera.kml.roll
};
var Error_vector = Av_f(marker_i,parameters);
var Error_vector = get_E(marker_i,parameters);
var C = get_C(marker_i,parameters);
var Ci = C.inverse();
var A = get_A(marker_i,parameters);
var AtA = A.transpose().mult(A);
console.log("Test: C^-1 = AtA ?");
console.log("Ci: "+Ci.toString());
console.log("AtA: "+AtA.toString());
/*
var e1_c = new x3dom.fields.SFVec3f(marker.x,marker.y,marker.z);
......@@ -43,23 +55,26 @@ function x3dom_delta_markers(){
}
function Av_f(mark,pars){
function get_E(mark,pars){
var v = v_f(mark,pars);
var A = A_f(mark,pars);
var v = get_v(mark,pars);
var A = get_A(mark,pars);
var Av = A.multMatrixVec(v);
return Av;
}
// J1
function get_JE1(mark,pars){
var e1_world = get_e1_w(mark,pars);
var e1_d = x3dom_3d_distance(e1_world.x,e1_world.y,e1_world.z,false);
// multiplier for debugging
var e1_k = 1;
var e1_k = 40;
// less precise
//var e1_abc = [e1_k*0.00038*e1_d, e1_k*0.00038*e1_d, e1_k*e1_d*e1_d/10000];
// more precise
......@@ -70,6 +85,7 @@ function get_JE1(mark,pars){
}
// R1
function get_RE1(mark,pars){
var e1_world = get_e1_w(mark,pars);
......@@ -89,9 +105,11 @@ function get_RE1(mark,pars){
}
// J2
function get_JE2(mark,pars){
// e2 depens on the map
// multiplier for debugging
var e2_k = 1;
var e2_abc = [e2_k*1,e2_k*1,e2_k*30];
......@@ -101,6 +119,7 @@ function get_JE2(mark,pars){
}
// R2
function get_RE2(mark,pars){
var RE2 = x3dom.fields.SFMatrix4f.identity();
......@@ -116,12 +135,39 @@ function get_C(mark,pars){
var JE2 = get_JE2(mark,pars);
var RE2 = get_RE2(mark,pars);
// debugging
var e2_world = get_e2_w(mark,pars);
var M2W = get_e1_M2W(mark,pars);
var W2M = M2W.inverse();
x3dom_draw_ellipsoid_by_semiaxes_and_center("e1","orange",{
O: W2M.multMatrixVec(e2_world),
Ox: W2M.multMatrixVec(RE1.e0().multiply(JE1._00)),
Oy: W2M.multMatrixVec(RE1.e1().multiply(JE1._11)),
Oz: W2M.multMatrixVec(RE1.e2().multiply(JE1._22))
},transparency=0.3);
x3dom_draw_ellipsoid_by_semiaxes_and_center("e2","orange",{
O: W2M.multMatrixVec(e2_world),
Ox: W2M.multMatrixVec(RE2.e0().multiply(JE2._00)),
Oy: W2M.multMatrixVec(RE2.e1().multiply(JE2._11)),
Oz: W2M.multMatrixVec(RE2.e2().multiply(JE2._22))
},transparency=0.3);
// now let's get to covariance matrix
var RE1xJE1 = RE1.mult(JE1);
var RE2xJE2 = RE2.mult(JE2);
var C1 = RE1xJE1.mult(RE1xJE1.transpose());
var C2 = RE2xJE2.mult(RE2xJE2.transpose());
//console.log(C1);
//console.log(C1.toString());
//console.log(C2);
//console.log(C2.toString());
var C = C1.add(C2);
//var C = C1.add(C1);
//var C = C2.add(C2);
......@@ -144,14 +190,14 @@ function get_dC(mark,pars){
function get_A(mark,pars){
var C = get_C(mark,pars);
var dC = get_dC(mark,pars);
//var dC = get_dC(mark,pars);
Cn = matrix_x3dom_to_numeric(C);
Bn = numeric.eig(Cn);
var a = Math.sqrt(Bn.lambda.x[0]);
var b = Math.sqrt(Bn.lambda.x[1]);
var c = Math.sqrt(Bn.lambda.x[2]);
var a = Bn.lambda.x[0];
var b = Bn.lambda.x[1];
var c = Bn.lambda.x[2];
var sa = Math.sqrt(a);
var sb = Math.sqrt(b);
......@@ -179,6 +225,30 @@ function get_A(mark,pars){
var JiR = Ji.mult(R);
var e2_world = get_e2_w(mark,pars);
var M2W = get_e1_M2W(mark,pars);
var W2M = M2W.inverse();
x3dom_draw_ellipsoid_by_semiaxes_and_center("ec1","red",{
O: W2M.multMatrixVec(e2_world),
Ox: W2M.multMatrixVec(R.transpose().e0().multiply(sa)),
Oy: W2M.multMatrixVec(R.transpose().e1().multiply(sb)),
Oz: W2M.multMatrixVec(R.transpose().e2().multiply(sc))
},transparency=0.6);
console.log("Eigen test:");
console.log("C = RAR^-1: "+C.toString());
console.log("A: "+J.mult(J).toString());
// incorrect
var T1 = R.mult(J).mult(J).mult(R.inverse());
// That's how it got decomposed:
var T2 = R.transpose().mult(J).mult(J).mult(R);
//var T1 = R.mult(J).mult(J).mult(J).mult(J).mult(R.inverse());
//console.log("T1: "+T1.toString());
//console.log("T2: "+T2.toString());
return JiR;
}
......@@ -268,8 +338,8 @@ function get_dE(mark,pars){
var A = get_A(mark,pars);
var dA = get_dA(mark,pars);
var v = v_f(mark,pars);
var dv = dv_f(mark,pars);
var v = get_v(mark,pars);
var dv = get_dv(mark,pars);
var p1 = A.multMatrixVec(dv);
var p2 = dA.multMatrixVec(v);
......@@ -279,88 +349,20 @@ function get_dE(mark,pars){
}
function A_f(mark,pars){
function get_v(mark,pars){
/*
var e1_world = get_e1_w(mark,pars);
var e2_world = get_e2_w(mark,pars);
var M2W = get_e1_M2W(mark,pars);
var W2M = M2W.inverse();
*/
/*
x3dom_draw_ellipsoid_by_semiaxes_and_center("e1","green",{
O: W2M.multMatrixVec(e2_world),
Ox: W2M.multMatrixVec(xa1.multiply(e1_abc[0])),
Oy: W2M.multMatrixVec(ya1.multiply(e1_abc[1])),
Oz: W2M.multMatrixVec(za1.multiply(e1_abc[2]))
},transparency=0.5);
*/
/*
var xa2 = new x3dom.fields.SFVec3f(e2_abc[0], 0, 0);
var ya2 = new x3dom.fields.SFVec3f( 0, e2_abc[1], 0);
var za2 = new x3dom.fields.SFVec3f( 0, 0, e2_abc[2]);
x3dom_draw_ellipsoid_by_semiaxes_and_center("e2","green",{
O: W2M.multMatrixVec(e2_world),
Ox: W2M.multMatrixVec(xa2),
Oy: W2M.multMatrixVec(ya2),
Oz: W2M.multMatrixVec(za2)
},transparency=0.5);
*/
// e2 ref system
// it's vertical in the WORLD
var C = get_C(mark,pars);
Cn = matrix_x3dom_to_numeric(C);
Bn = numeric.eig(Cn);
var es_a = Math.sqrt(Bn.lambda.x[0]);
var es_b = Math.sqrt(Bn.lambda.x[1]);
var es_c = Math.sqrt(Bn.lambda.x[2]);
var vec0 = new x3dom.fields.SFVec3f(Bn.E.x[0][0],Bn.E.x[0][1],Bn.E.x[0][2]);
var vec1 = new x3dom.fields.SFVec3f(Bn.E.x[1][0],Bn.E.x[1][1],Bn.E.x[1][2]);
var vec2 = new x3dom.fields.SFVec3f(Bn.E.x[2][0],Bn.E.x[2][1],Bn.E.x[2][2]);
var RESmatrix = new x3dom.fields.SFMatrix4f(
vec0.x, vec1.x, vec2.x, 0,
vec0.y, vec1.y, vec2.y, 0,
vec0.z, vec1.z, vec2.z, 0,
0, 0, 0, 1
);
var RESaxes = new x3dom.fields.SFMatrix4f(
es_a, 0, 0, 0,
0, es_b, 0, 0,
0, 0, es_c, 0,
0, 0, 0, 1
);
/*
x3dom_draw_ellipsoid_by_semiaxes_and_center("ec1","red",{
O: W2M.multMatrixVec(e2_world),
Ox: W2M.multMatrixVec(RESmatrix.transpose().e0().multiply(es_a)),
Oy: W2M.multMatrixVec(RESmatrix.transpose().e1().multiply(es_b)),
Oz: W2M.multMatrixVec(RESmatrix.transpose().e2().multiply(es_c))
},transparency=0.8);
*/
var A = RESaxes.inverse().mult(RESmatrix.transpose());
return A;
// pointing from model mark to map mark
var v = e1_world.subtract(e2_world);
return v;
}
function v_f(mark,pars){
function get_dv(mark,pars){
var e1_world = get_e1_w(mark,pars);
var e2_world = get_e2_w(mark,pars);
// pointing from model mark to map mark
var v = e1_world.subtract(e2_world);
return new x3dom.fields.SFVec3f(0,0,0);
return v;
}
// rads per degree
......
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