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Commit 90acde40 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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moved functions to separate file

parent 7be238eb
master
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js/align_functions.js 0 → 100644
View file @ 90acde40
/*
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
View file @ 90acde40
...@@ -45,11 +45,11 @@ function align_init(){ ...@@ -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(){ ...@@ -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(){ ...@@ -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(){ ...@@ -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){ ...@@ -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){ ...@@ -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(){ ...@@ -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(){ ...@@ -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
View file @ 90acde40
...@@ -42,6 +42,8 @@ ...@@ -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>
......
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