public void NextFrame(int frameNo, IAstroImage astroImage, IStarMap starMap, LeastSquareFittedAstrometry astrometricFit) { IsTrackedSuccessfully = false; ImagePixel centroid = AstrometryContext.Current.StarMap.GetCentroid( (int)TrackedObject.LastKnownX, (int)TrackedObject.LastKnownY, CoreAstrometrySettings.Default.PreMeasureSearchCentroidRadius); if (centroid != null) { PSFFit psfFit; AstrometryContext.Current.StarMap.GetPSFFit( centroid.X, centroid.Y, PSFFittingMethod.NonLinearFit, out psfFit); if (psfFit != null) { double ra, de; astrometricFit.GetRADEFromImageCoords(psfFit.XCenter, psfFit.YCenter, out ra, out de); double maxPosDiffArcSec = astrometricFit.GetDistanceInArcSec(astrometricFit.Image.CenterXImage, astrometricFit.Image.CenterYImage, astrometricFit.Image.CenterXImage + CoreAstrometrySettings.Default.PreMeasureSearchCentroidRadius, astrometricFit.Image.CenterYImage); if (!double.IsNaN(TrackedObject.RAHours)) { double posDif = 3600 * AngleUtility.Elongation(15 * TrackedObject.RAHours, TrackedObject.DEDeg, ra, de); if (posDif > maxPosDiffArcSec) { // NOTE: Not a valid measurement Trace.WriteLine(string.Format("The target position is too far from the last measured position", posDif)); return; } } TrackedObject.RAHours = ra / 15.0; TrackedObject.DEDeg = de; TrackedObject.LastKnownX = psfFit.XCenter; TrackedObject.LastKnownY = psfFit.YCenter; TrackedObject.PSFFit = psfFit; IsTrackedSuccessfully = true; } } }
private void ImproveSolution(LeastSquareFittedAstrometry fit, double coeff, int i, int j, int k) { m_SolutionSolver = new PlateConstantsSolver(m_PlateConfig); double ra0, de0; fit.GetRADEFromImageCoords(m_PlateConfig.CenterXImage, m_PlateConfig.CenterXImage, out ra0, out de0); m_SolutionSolver.InitPlateSolution(ra0, de0); List<IStar> consideredStars = new List<IStar>(); List<ulong> nonStellarStars = new List<ulong>(); foreach (IStar star in m_CelestialAllStars) { if (star.Mag < m_MinMag || star.Mag > m_MaxMag) continue; if (m_DetermineAutoLimitMagnitude && !double.IsNaN(m_DetectedLimitingMagnitude) && star.Mag > m_DetectedLimitingMagnitude) { #if ASTROMETRY_DEBUG Trace.Assert(false); #endif continue; } double x, y; fit.GetImageCoordsFromRADE(star.RADeg, star.DEDeg, out x, out y); if (x < 0 || x > m_PlateConfig.ImageWidth || y < 0 || y > m_PlateConfig.ImageHeight) continue; ImagePixel pixel = null; PSFFit psfFit; PSFFit asymPsfFit = null; //if (m_FitSettings.CenterDetectionMethod == StarCenterDetection.PSFFit) { if (m_Settings.PyramidRemoveNonStellarObject) m_StarMap.GetPSFFit((int)x, (int)y, PSFFittingMethod.NonLinearAsymetricFit, out asymPsfFit); pixel = m_StarMap.GetPSFFit((int)x, (int)y, PSFFittingMethod.NonLinearFit, out psfFit); } //else if (m_FitSettings.CenterDetectionMethod == StarCenterDetection.Centroid) { // NOTE: Centroid detection is way faster and PSF will not lead to big improvement considering the threshold for star matching //pixel = m_StarMap.GetCentroid((int)x, (int)y, (int)Math.Ceiling(m_Settings.SearchArea)); } if (pixel != null && psfFit.Certainty >= CorePyramidConfig.Default.MinDetectionLimitForSolutionImprovement / coeff) { consideredStars.Add(star); double distance = fit.GetDistanceInArcSec(pixel.XDouble, pixel.YDouble, x, y); if (distance < CorePyramidConfig.Default.MaxPreliminaryResidualForSolutionImprovement / coeff) { #if ASTROMETRY_DEBUG Trace.Assert(!double.IsNaN(pixel.XDouble)); Trace.Assert(!double.IsNaN(pixel.YDouble)); #endif if ( Math.Sqrt((x - pixel.XDouble) * (x - pixel.XDouble) + (y - pixel.YDouble) * (y - pixel.YDouble)) > CoreAstrometrySettings.Default.SearchArea) continue; pixel.SignalNoise = psfFit.Certainty; pixel.Brightness = psfFit.Brightness; m_SolutionSolver.AddStar(pixel, star); if (m_Settings.PyramidRemoveNonStellarObject && ( asymPsfFit.FWHM < m_Settings.MinReferenceStarFWHM || asymPsfFit.FWHM > m_Settings.MaxReferenceStarFWHM || asymPsfFit.ElongationPercentage > m_Settings.MaximumPSFElongation) ) { nonStellarStars.Add(star.StarNo); } } } } double ffl = fit.FitInfo.FittedFocalLength; m_ImprovedSolution = m_SolutionSolver.SolveWithLinearRegression(m_Settings, out m_FirstImprovedSolution); //if (m_ImprovedSolution != null && m_ImprovedSolution.FitInfo.AllStarPairs.Count < 12) //{ // // Attempt to reject errorous solutions with small number of fitted stars // int totalMatched = 0; // var largeFeatures = m_StarMap.Features.Where(x => x.MaxBrightnessPixels > 1).ToList(); // if (largeFeatures.Count > 5) // { // foreach (var feature in largeFeatures) // { // var ftrCenter = feature.GetCenter(); // // TODO: PFS Fit on the feature? // var matchedFittedStar = m_ImprovedSolution.FitInfo.AllStarPairs.FirstOrDefault( // x => // Math.Sqrt(Math.Pow(x.x - ftrCenter.XDouble, 2) + Math.Pow(x.x - ftrCenter.XDouble, 2)) < // 2); // if (matchedFittedStar != null) totalMatched++; // } // double percentLargeFeaturesMatched = 1.0*totalMatched/largeFeatures.Count; // if (percentLargeFeaturesMatched < 0.75) // { // if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceInfo()) // Trace.WriteLine(string.Format("Only {0:0.0}% ({1} features) of the large {2} features have been matched, where 75% is required.", percentLargeFeaturesMatched*100, totalMatched, largeFeatures.Count)); // // At least 75% of the bright features from the video need to be matched to stars for the solution to be accepted // m_ImprovedSolution = null; // } // } //} if (m_ImprovedSolution != null) { m_ImprovedSolution.FitInfo.FittedFocalLength = ffl; if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceWarning()) Trace.WriteLine(string.Format("Improved solution: {0} considered stars, UsedInSolution: {1}, ExcludedForHighResidual: {2}", m_ImprovedSolution.FitInfo.AllStarPairs.Count(), m_ImprovedSolution.FitInfo.AllStarPairs.Count(x => x.FitInfo.UsedInSolution), m_ImprovedSolution.FitInfo.AllStarPairs.Count(x => x.FitInfo.ExcludedForHighResidual))); // Fit was successful, exclude all unused non stellar objects so they // don't interfere with the included/excluded stars improved solution tests m_ImprovedSolution.FitInfo.AllStarPairs.RemoveAll(p => (p.FitInfo.ExcludedForHighResidual || !p.FitInfo.UsedInSolution) && nonStellarStars.Contains(p.StarNo)); // NOTE: How excluding stars for FWHM/Elongation may lead to incorrectly accepted solutions that include small number of stars // because the majority haven't been used for the fit. This is why we have another solution check here. if (m_ImprovedSolution.FitInfo.AllStarPairs.Count > 3) { List<PlateConstStarPair> usedStarPairs = m_ImprovedSolution.FitInfo.AllStarPairs.Where(p => p.FitInfo.UsedInSolution).ToList(); double maxIncludedMag = usedStarPairs.Max(p => p.Mag); int nonIncludedConsideredStars = consideredStars.Count(s => s.Mag <= maxIncludedMag) - usedStarPairs.Count; if (nonIncludedConsideredStars > CorePyramidConfig.Default.MaxFWHMExcludedImprovemntStarsCoeff * usedStarPairs.Count) { LogUnsuccessfulFitImage(m_ImprovedSolution, i, j, k, string.Format("More than {0:0.0}% of the stars ({1} stars) down to mag {2:0.00} have not been matched. Attempted stars: {3}, Coeff: {4:0.00}", CorePyramidConfig.Default.MaxFWHMExcludedImprovemntStarsCoeff * 100, nonIncludedConsideredStars, maxIncludedMag, m_SolutionSolver.Pairs.Count, nonIncludedConsideredStars / m_SolutionSolver.Pairs.Count)); m_ImprovedSolution = null; return; } List<double> intensities = usedStarPairs.Select(s => (double)s.Intensity).ToList(); List<double> mags = usedStarPairs.Select(s => s.Mag).ToList(); if (usedStarPairs.Count > 3) { LinearRegression reg = new LinearRegression(); int pointsAdded = 0; for (int ii = 0; ii < intensities.Count; ii++) { if (intensities[ii] > 0) { reg.AddDataPoint(intensities[ii], Math.Log10(mags[ii])); pointsAdded++; } } if (pointsAdded > 3) { reg.Solve(); if (Math.Pow(10, reg.StdDev) > CorePyramidConfig.Default.MagFitTestMaxStdDev || reg.A > CorePyramidConfig.Default.MagFitTestMaxInclination) { LogUnsuccessfulFitImage(m_ImprovedSolution, i, j, k, string.Format("Failing solution for failed magnitude fit. Intensity(Log10(Magntude)) = {1} * x + {2}, StdDev = {0:0.0000}, ChiSquare = {3:0.000}", Math.Pow(10, reg.StdDev), reg.A, reg.B, reg.ChiSquare)); m_ImprovedSolution = null; return; } } } } } }
public void NextFrame(int frameNo, IAstroImage astroImage, IStarMap starMap, LeastSquareFittedAstrometry astrometricFit) { IsTrackedSuccessfully = false; int searchRadius = (int)Math.Ceiling(Math.Max(m_LastMovementPixels, CoreAstrometrySettings.Default.PreMeasureSearchCentroidRadius)); PSFFit psfFit = null; int startingX = (int)TrackedObject.LastKnownX; int startingY = (int)TrackedObject.LastKnownY; if (m_RepeatedIntergationPositions * 4 < m_PastFrameNos.Count) { var expectedPos = GetExpectedPosition(frameNo); if (expectedPos != null) { startingX = expectedPos.X; startingY = expectedPos.Y; } } var nearbyFeatures = starMap.GetFeaturesInRadius(startingX, startingY, searchRadius).ToArray(); var nonStarNearbyFeature = new List <StarMapFeature>(); foreach (var feature in nearbyFeatures) { var center = feature.GetCenter(); var referenceStarFeatures = astrometricFit.FitInfo.AllStarPairs.Where(x => x.FitInfo.UsedInSolution).ToList(); var refStar = referenceStarFeatures.FirstOrDefault(s => Math.Sqrt((s.x - center.X) * (s.x - center.X) + (s.y - center.Y) * (s.y - center.Y)) < 2); double raf, def; astrometricFit.GetRADEFromImageCoords(center.XDouble, center.YDouble, out raf, out def); var pastKnownStar = m_LastFrameStars.FirstOrDefault(s => AngleUtility.Elongation(s.RADeg, s.DEDeg, raf, def) * 3600.0 < 2); if (refStar == null && pastKnownStar == null) { nonStarNearbyFeature.Add(feature); } } if (nonStarNearbyFeature.Count > 0) { StarMapFeature closestFeature = nonStarNearbyFeature[0]; var lastKnownCenter = new ImagePixel(TrackedObject.LastKnownX, TrackedObject.LastKnownY); var smallestDistance = lastKnownCenter.DistanceTo(closestFeature.GetCenter()); for (int i = 1; i < nonStarNearbyFeature.Count; i++) { var distance = lastKnownCenter.DistanceTo(nonStarNearbyFeature[i].GetCenter()); if (distance < smallestDistance) { smallestDistance = distance; closestFeature = nonStarNearbyFeature[i]; } } if (closestFeature != null) { var center = closestFeature.GetCenter(); AstrometryContext.Current.StarMap.GetPSFFit(center.X, center.Y, PSFFittingMethod.NonLinearFit, out psfFit); } } if (psfFit == null) { // The expected location cannot be matched with any brighter feature so it is likely a faint object // with no brighter objects around. Lets find the brightest (faint) object in the are and use it ImagePixel centroid = AstrometryContext.Current.StarMap.GetCentroid(startingX, startingY, searchRadius); if (centroid != null) { AstrometryContext.Current.StarMap.GetPSFFit(centroid.X, centroid.Y, PSFFittingMethod.NonLinearFit, out psfFit); } } if (psfFit != null) { double ra, de; astrometricFit.GetRADEFromImageCoords(psfFit.XCenter, psfFit.YCenter, out ra, out de); double maxPosDiffArcSec = astrometricFit.GetDistanceInArcSec(astrometricFit.Image.CenterXImage, astrometricFit.Image.CenterYImage, astrometricFit.Image.CenterXImage + Math.Max(m_LastMovementPixels, CoreAstrometrySettings.Default.MaxAllowedDefaultMotionInPixels), astrometricFit.Image.CenterYImage); if (!double.IsNaN(TrackedObject.RAHours)) { double posDif = 3600 * AngleUtility.Elongation(15 * TrackedObject.RAHours, TrackedObject.DEDeg, ra, de); if (posDif > maxPosDiffArcSec) { // NOTE: Not a valid measurement Trace.WriteLine(string.Format("The target position is too far from the last measured position", posDif)); return; } } TrackedObject.RAHours = ra / 15.0; TrackedObject.DEDeg = de; if (TrackedObject.PSFFit != null) { m_LastMovementPixels = 1.2 * ImagePixel.ComputeDistance(TrackedObject.LastKnownX, psfFit.XCenter, TrackedObject.LastKnownY, psfFit.YCenter); } TrackedObject.LastKnownX = psfFit.XCenter; TrackedObject.LastKnownY = psfFit.YCenter; TrackedObject.PSFFit = psfFit; var lastKnownCenter = new ImagePixel(TrackedObject.LastKnownX, TrackedObject.LastKnownY); var thisFrameStars = astrometricFit.FitInfo.AllStarPairs.Where(x => lastKnownCenter.DistanceTo(x.x, x.y) > 2 * psfFit.FWHM).ToList(); if (thisFrameStars.Count > 0) { m_LastFrameStars = thisFrameStars.Select(x => new Star(x.StarNo, x.RADeg, x.DEDeg, x.Mag) as IStar).ToList(); } IsTrackedSuccessfully = true; } if (psfFit != null && psfFit.XCenter > 0 && psfFit.YCenter > 0) { m_PastFramePosX.Add(psfFit.XCenter); m_PastFramePosY.Add(psfFit.YCenter); m_PastFrameNos.Add(frameNo); } }
public LeastSquareFittedAstrometry SolvePlateConstantsPhase4(double pyramidLimitMag) { double ra0deg, de0Deg; m_SolvedPlate.GetRADEFromImageCoords(m_SolvedPlate.Image.CenterXImage, m_SolvedPlate.Image.CenterYImage, out ra0deg, out de0Deg); FocalLengthFit distFit = m_ConstantsSolver.ComputeFocalLengthFit(); m_Context.PlateConfig.EffectiveFocalLength = m_Context.FieldSolveContext.FocalLength; distFit.GetFocalParameters(m_Context.PlateConfig.EffectiveFocalLength, out m_Context.PlateConfig.EffectivePixelWidth, out m_Context.PlateConfig.EffectivePixelHeight); DistanceBasedAstrometrySolver distMatch = new DistanceBasedAstrometrySolver( m_AstrometryController, m_Context.PlateConfig, m_AstrometrySettings, m_Context.FieldSolveContext.CatalogueStars, m_Context.FieldSolveContext.RADeg, m_Context.FieldSolveContext.DEDeg, m_Context.FieldSolveContext.DetermineAutoLimitMagnitude); distMatch.SetMinMaxMagOfStarsForAstrometry(CorePyramidConfig.Default.DefaultMinAstrometryMagnitude, 18); distMatch.SetMinMaxMagOfStarsForPyramidAlignment(CorePyramidConfig.Default.DefaultMinPyramidMagnitude, pyramidLimitMag); Trace.WriteLine(string.Format("Stars for alignment in range: {0:0.0} - {1:0.0} mag", CorePyramidConfig.Default.DefaultMinPyramidMagnitude, pyramidLimitMag)); Dictionary <PSFFit, IStar> manualStars = null; var threeStarFit = m_Context.PreliminaryFit as ThreeStarAstrometry; if (threeStarFit != null) { manualStars = new Dictionary <PSFFit, IStar>(); foreach (var kvp in threeStarFit.UserStars) { PSFFit psfFit; m_Context.StarMap.GetPSFFit(kvp.Key.X, kvp.Key.Y, PSFFittingMethod.NonLinearFit, out psfFit); if (psfFit != null && psfFit.IsSolved) { manualStars.Add(psfFit, kvp.Value); } } } distMatch.InitNewMatch(m_Context.StarMap, PyramidMatchType.PlateSolve, manualStars); #if ASTROMETRY_DEBUG Dictionary <int, ulong> debugInfo = new Dictionary <int, ulong>(); var starList = m_Context.SecondAstrometricFit.FitInfo.AllStarPairs .Where(p => !p.FitInfo.ExcludedForHighResidual); foreach (var x in starList) { if (!debugInfo.ContainsKey(x.FeatureId)) { debugInfo.Add(x.FeatureId, x.StarNo); } } foreach (var f in m_Context.StarMap.Features) { Trace.WriteLine(string.Format("{0} - {1}", f.FeatureId, debugInfo.ContainsKey(f.FeatureId) ? "INCLUDED" : "MISSING")); } distMatch.SetDebugData(new DistanceBasedAstrometrySolver.PyramidDebugContext() { ResolvedStars = debugInfo, ResolvedFocalLength = m_Context.SecondAstrometricFit.FitInfo.FittedFocalLength }); #endif LeastSquareFittedAstrometry fit = null; LeastSquareFittedAstrometry improvedFit = null; PlateConstantsSolver solver; distMatch.PerformMatch(out fit, out improvedFit, out solver); m_Context.DistanceBasedFit = fit; m_Context.ImprovedDistanceBasedFit = improvedFit; if (fit != null) { m_Context.PlateConstants = new TangraConfig.PersistedPlateConstants { EffectiveFocalLength = m_Context.PlateConfig.EffectiveFocalLength, EffectivePixelWidth = m_Context.PlateConfig.EffectivePixelWidth, EffectivePixelHeight = m_Context.PlateConfig.EffectivePixelHeight }; m_Context.ConstantsSolver = solver; if (improvedFit != null) { foreach (var pair in improvedFit.FitInfo.AllStarPairs) { if (pair.FitInfo.ExcludedForHighResidual) { continue; } Trace.WriteLine(string.Format("{6}; {0}; {1}; {2}; {3}; ({4}\", {5}\")", pair.RADeg, pair.DEDeg, pair.x.ToString("0.00"), pair.y.ToString("0.00"), pair.FitInfo.ResidualRAArcSec.ToString("0.00"), pair.FitInfo.ResidualDEArcSec.ToString("0.00"), pair.StarNo)); double x, y; improvedFit.GetImageCoordsFromRADE(pair.RADeg, pair.DEDeg, out x, out y); double dist = improvedFit.GetDistanceInArcSec(x, y, pair.x, pair.y); } } } else { m_Context.PlateConstants = null; } return(fit); }