Commit 90acde40 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
Browse files

moved functions to separate file

parent 7be238eb

js/align_functions.js

0 → 100644
+252 −0
Original line number Original line Diff line number Diff line 
/*



  Copyright (C) 2017 Elphel Inc.



  License: GPL-3.0



  https://www.elphel.com



*/

/**

 * @file this file

 * @brief

 *

 * @copyright Copyright (C) 2017 Elphel Inc.

 * @author Oleg Dzhimiev <oleg@elphel.com>

 *

 * @licstart  The following is the entire license notice for the

 * JavaScript code in this page.

 *

 *   The JavaScript code in this page is free software: you can

 *   redistribute it and/or modify it under the terms of the GNU

 *   General Public License (GNU GPL) as published by the Free Software

 *   Foundation, either version 3 of the License, or (at your option)

 *   any later version.  The code is distributed WITHOUT ANY WARRANTY;

 *   without even the implied warranty of MERCHANTABILITY or FITNESS

 *   FOR A PARTICULAR PURPOSE.  See the GNU GPL for more details.

 *

 *   As additional permission under GNU GPL version 3 section 7, you

 *   may distribute non-source (e.g., minimized or compacted) forms of

 *   that code without the copy of the GNU GPL normally required by

 *   section 4, provided you include this license notice and a URL

 *   through which recipients can access the Corresponding Source.

 *

 *  @licend  The above is the entire license notice

 *  for the JavaScript code in this page.

 */



/**

 * hll_ and art_

 */



/**

 * Functions for heading and position latitude and longitude

 * hll_...

 */



/*

 * heading in degrees from 3D model

 */

function hll_f_3d_i(i,v){

  var base = Data.camera;

  var mark = Data.markers[i];

  var vec = new x3dom.fields.SFVec3f(mark.align.x-base.x,0,mark.align.z-base.z);

  var res = Math.atan2(vec.x,-vec.z)*180/Math.PI + v[2];



  if (res> 180) res = res - 360;

  if (res<-180) res = res + 360;



  return res;

}



/*

 * heading in degrees from map

 */

function hll_f_map_i(i,v){



  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);



  //console.log(p1_ll);

  //console.log(p2_ll);



  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;



  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;



  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;



  var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);

  var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);



  //console.log("dy = "+dy+" dx = "+dx);



  var res = 180/Math.PI*Math.atan2(dy,dx);



  return res;



}



/*

 * residuals function

 */

function hll_r_i(i,v){

  var f1 = hll_f_3d_i(i,v);

  var f2 = hll_f_map_i(i,v);

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

  return (f1-f2);

}



/*

 * dr/dx(i)

 */

function hll_dr_dx_i(i,v){



  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);



  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;



  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;



  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;



  var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);

  var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);



  var dydx = 0;

  var dxdx = (-Math.sin(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon))*Math.PI/180;



  var Arg = dy/dx;



  var res = -180/Math.PI*1/(1+Math.pow(Arg,2))*(-dy*dxdx)/Math.pow(dx,2);



  return res;



}

/*

 * dr/dy(i)

 */

function hll_dr_dy_i(i,v){



  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);



  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;



  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;



  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;



  var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);

  var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);



  var dydy = Math.cos(p2_ll.lat)*Math.cos(dlon)*(-1)*Math.PI/180;

  var dxdy = -Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*(-1)*Math.sin(dlon)*(-1)*Math.PI/180;



  var Arg = dy/dx;



  var res = -180/Math.PI*1/(1+Math.pow(Arg,2))*(dydy*dx-dy*dxdy)/Math.pow(dx,2);



  return res;



}

/*

 * dr/dh(i)

 */

function hll_dr_dh_i(i,v){

  return 1;

}





/**

 * Functions for relative altitude, tilt and roll

 * art_...

 */



function art_f_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 art_f_map_i(i,v){



  var mark = Data.markers[i];

  return (v[2]+mark.align.altitude);



}



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);

}



function art_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/art_l_i(i);



}



function art_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/art_l_i(i);



}



function art_dr_da_i(i,v){

  return -1;

}



function art_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);



}

js/ui_align.js

+100 −223
Original line number Original line Diff line number Diff line
@@ -45,11 +45,11 @@ function align_init(){ 
        //if (DEBUG_ALIGN) test_markers_set1();

        //if (DEBUG_ALIGN) test_markers_set1();

        if (DEBUG_ALIGN) test_markers_set2();

        if (DEBUG_ALIGN) test_markers_set2();

        //if (DEBUG_ALIGN) test_markers_set3();

        //if (DEBUG_ALIGN) test_markers_set3();

        x3dom_align_GN();

        x3dom_align_hll();

    });

    });





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

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

        x3dom_align_tr();

        x3dom_align_art();

    });

    });





    /*

    /*
@@ -100,7 +100,7 @@ function check_markers(){ 
/*

/*

 * run the Gauss-Newton algorithm iterations

 * run the Gauss-Newton algorithm iterations

 */

 */

function x3dom_align_GN(){

function x3dom_align_hll(){





  // need at least 3 points

  // need at least 3 points

  if (Data.markers != undefined){

  if (Data.markers != undefined){
@@ -131,7 +131,7 @@ function x3dom_align_GN(){ 




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

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





  var result = numbers.calculus.GaussNewton(xyh,Data.markers.length,r_i,[dr_dx_i,dr_dy_i,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);





  xyh = result.v;

  xyh = result.v;

  var s1 = result.error;

  var s1 = result.error;
@@ -146,133 +146,6 @@ function x3dom_align_GN(){ 




}

}





/*

 * heading in degrees from 3D model

 */

function f1_3d_i(i,v){

  var base = Data.camera;

  var mark = Data.markers[i];

  var vec = new x3dom.fields.SFVec3f(mark.align.x-base.x,0,mark.align.z-base.z);

  var res = Math.atan2(vec.x,-vec.z)*180/Math.PI + v[2];



  if (res> 180) res = res - 360;

  if (res<-180) res = res + 360;



  return res;

}



/*

 * heading in degrees from map

 */

function f2_map_i(i,v){



  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);



  //console.log(p1_ll);

  //console.log(p2_ll);



  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;



  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;



  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;



  var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);

  var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);



  //console.log("dy = "+dy+" dx = "+dx);



  var res = 180/Math.PI*Math.atan2(dy,dx);



  return res;



}



/*

 * residuals function

 */

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);

}



/*

 * dr/dx(i)

 */

function dr_dx_i(i,v){



  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);



  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;



  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;



  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;



  var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);

  var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);



  var dydx = 0;

  var dxdx = (-Math.sin(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon))*Math.PI/180;



  var Arg = dy/dx;



  var res = -180/Math.PI*1/(1+Math.pow(Arg,2))*(-dy*dxdx)/Math.pow(dx,2);



  return res;



}

/*

 * dr/dy(i)

 */

function dr_dy_i(i,v){



  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);



  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;



  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;



  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;



  var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);

  var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);



  var dydy = Math.cos(p2_ll.lat)*Math.cos(dlon)*(-1)*Math.PI/180;

  var dxdy = -Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*(-1)*Math.sin(dlon)*(-1)*Math.PI/180;



  var Arg = dy/dx;



  var res = -180/Math.PI*1/(1+Math.pow(Arg,2))*(dydy*dx-dy*dxdy)/Math.pow(dx,2);



  return res;



}

/*

 * dr/dh(i)

 */

function dr_dh_i(i,v){

  return 1;

}





/*

/*

 * ui dialog to apply or cancel results

 * ui dialog to apply or cancel results

 */

 */
@@ -370,7 +243,7 @@ function distance_error(x,y,h){ 




  for(var i=0;i<Data.markers.length;i++){

  for(var i=0;i<Data.markers.length;i++){

      var angle0 = h;

      var angle0 = h;

      var angle1 = f2_map_i(i,[x,y,h]);

      var angle1 = hll_f_map_i(i,[x,y,h]);

      var z_map = Math.cos(Math.PI/180*(angle0-angle1))*Data.markers[i].d_map;

      var z_map = Math.cos(Math.PI/180*(angle0-angle1))*Data.markers[i].d_map;

      var z_x3d = -Data.markers[i].align.z;

      var z_x3d = -Data.markers[i].align.z;

      sum += 1/z_map-1/z_x3d;

      sum += 1/z_map-1/z_x3d;
@@ -385,32 +258,20 @@ function distance_error(x,y,h){ 




}

}





function x3dom_align_tr(){

/**

 * Tilt, roll and relative height

 */

function x3dom_align_art(){



  //test_height_alignment_set1();





  if (Data.markers.length<2){

  if (Data.markers.length<2){

    console.log("Too few points");

    console.log("Too few points");

    return;

    return;

  }

  }





  var mark0 = Data.markers[0];

  var mark1 = Data.markers[1];



  var v0 = { x: mark0.align.x, y: mark0.align.y, z: mark0.align.z};

  var v1 = { x: mark1.align.x, y: mark1.align.y, z: mark1.align.z};



  var dx = Math.abs(v1.x-v0.x);

  var dy = Math.abs(v1.y-v0.y);

  var dz = Math.abs(v1.z-v0.z);



  console.log(dx+" "+dy+" "+dz);



  var tilt = 180/Math.PI*Math.asin(dy/Math.sqrt(dy*dy+dz*dz));

  var roll = 180/Math.PI*Math.asin(dy/Math.sqrt(dy*dy+dx*dx));



  console.log("Tilt: "+tilt+" Roll: "+roll);



  var epsilon = 1e-8;

  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);

  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);





  console.log(result);

  console.log(result);
@@ -425,79 +286,7 @@ 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

 * not used
@@ -550,3 +339,91 @@ function test_markers_set3(){ 
  ];

  ];





}

}



function test_height_alignment_set1(){



  Data.markers = [

    // mark 1

    {

      d_map:59.51564928339807,

      d_x3d:58.313592803937226,

      align:{

        altitude: -13.5,

        latitude: 40.723442371919724,

        longitude: -111.93217635154726,

        x: 23.459612763633526,

        y: -16.16174219091789,

        z: -53.38653083581816

      }

    },

    // mark 2

    {

      d_map:33.27803820582991,

      d_x3d:33.751031067385306,

      align:{

        altitude: -13.5,

        latitude: 40.72351402663441,

        longitude: -111.9325089454651,

        x: 3.874545773959316,

        y: -14.990277738492225,

        z: -33.52789872862751

      }

    },

    // mark 3

    {

      d_map:190.2700432380853,

      d_x3d:182.86147956244875,

      align:{

        altitude: -13.5,

        latitude: 40.72385908620143,

        longitude: -111.93070113658906,

        x: 37.888760344786206,

        y: -21.838175845671834,

        z: -178.89315958779198

      }

    },

    // mark 4

    {

      d_map:123.91365898007855,

      d_x3d:121.69257093022782,

      align:{

        altitude: -11.5,

        latitude: 40.724090818868255,

        longitude: -111.93171232938768,

        x: -22.176096746469145,

        y: -16.83997830234069,

        z: -119.65493116750253

      }

    }



  ];



}

viewer.html

+2 −0
Original line number Original line Diff line number Diff line
@@ -42,6 +42,8 @@ 
    <script type='text/javascript' src='js/ui_functions.js'></script>

    <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_align.js'></script>





    <script type='text/javascript' src='js/align_functions.js'></script>



    <script type='text/javascript' src='js/util_functions.js'></script>

    <script type='text/javascript' src='js/util_functions.js'></script>





    <script type='text/javascript' src='js/kml.js'></script>

    <script type='text/javascript' src='js/kml.js'></script>