added weights to least square fitting

js/align_functions.js

@@ -175,7 +175,21 @@ function hll_dr_dh_i(i,v){
  */
 
 function hll_w_i(i,v){
-  return 1;
+
+  var mark = Data.markers[i];
+  var xi = mark.align.x;
+  var yi = mark.align.y;
+  var zi = mark.align.z;
+
+  //var arad = 0.0004404;
+  var D = 100;
+
+  var d = Math.sqrt(Math.pow(xi,2)+Math.pow(yi,2)+Math.pow(zi,2));
+
+  var res = d/D;
+  res = (res>1)?1:res;
+
+  return res;
 }
 
 /**
@@ -260,8 +274,8 @@ function art_l_i(i){
 }
 
 function art_w_i(i,v){
-  return 1;
-  //return 1/art_l_i(i);
+  //return 1;
+  return 1/art_l_i(i);
 }
 
 /**

js/numbers/numbers.calculus.extra.js

@@ -4,7 +4,7 @@
  * @copyright Copyright (C) 2017 Elphel Inc.
  * @authors Oleg Dzhimiev <oleg@elphel.com>
  *
- * @license: GPL-3.0
+ * @license: GPL-3.0+
  *
  * @licstart  The following is the entire license notice for the
  * JavaScript code in this page.
@@ -53,6 +53,13 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
     };
   }
 
+  // for normalization
+  var WSUM = 0;
+
+  for(var i=0;i<n;i++){
+    WSUM += w(i,v)
+  }
+
   while(!stop){
 
     counter++
@@ -84,8 +91,13 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
     var J = jacobian(v,n,dr)
     var Jt = numbers.matrix.transpose(J)
 
+    for(var i=0;i<n;i++){
+      J = numbers.matrix.rowScale(J,i,wn(i,v))
+    }
+
     // JtJ
     J = numbers.matrix.multiply(Jt,J)
+
     // (Jt x J)^-1
     J = numbers.matrix.inverse(J)
     // (Jt x J)^-1 x Jt
@@ -93,7 +105,7 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
 
     var V = []
     for(var i=0;i<n;i++){
-      V.push([r(i,v)])
+      V.push([wn(i,v)*r(i,v)])
     }
 
     var delta = numbers.matrix.multiply(J,V)
@@ -114,16 +126,17 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
   function sigma(v,n,r){
 
     var sum = 0
-    var wsum = 0
+    //var wsum = 0
 
     for(var i=0;i<n;i++){
-      sum += w(i,v)*r(i,v)*r(i,v)
-      wsum += w(i,v)
+      sum += wn(i,v)*r(i,v)*r(i,v)
+      //wsum += w(i,v)
     }
 
     //console.log("sum = "+sum+" wsum = "+wsum);
 
-    sum = Math.sqrt(sum/wsum)
+    //sum = Math.sqrt(sum/wsum)
+    sum = Math.sqrt(sum)
 
     return sum
 
@@ -137,7 +150,7 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
 
       var row = []
       for(var j=0;j<dr.length;j++){
-        row.push(w(i,v)*dr[j](i,v))
+        row.push(dr[j](i,v))
       }
       J[i] = row
 
@@ -147,4 +160,9 @@ numbers.calculus.GaussNewton = function(v,n,r,dr,eps,w){
 
   }
 
+  // normalized weight
+  function wn(i,v){
+    return w(i,v)/WSUM;
+  }
+
 }