public Tracker(List<TrackedObjectConfig> trackedObjects)
{
TrackedObjects = new List<ITrackedObject>();
int i = -1;
foreach(TrackedObjectConfig originalObject in trackedObjects)
{
i++;
TrackedObject trackedObject = new TrackedObject((byte)i, originalObject);
TrackedObjects.Add(trackedObject);
TrackedObjectsByTargetId.Add(trackedObject.TargetNo, trackedObject);
if (IsLocateFirstObject(originalObject))
{
LocateFirstObjects.Add(trackedObject);
LocateFirstObjectsTargetIds.Add(trackedObject.TargetNo);
}
else
LocateSecondObjects.Add(trackedObject);
if (trackedObject.IsOccultedStar) OccultedStar = trackedObject;
}
m_AllowedSignalFluctoation = LightCurveReductionContext.Instance.HighFlickeringOrLargeStars ? 1.90f : 1.30f;
//if this is not an aperture photometry we MUST have a PSF fit anyway so
// also fit objects with fixed aperture. Also not allow fixed apertures to be added
// when the object is faint and there is no good fit. Test with first guiding and second faint occulted.
RefinedFWHM = new float[trackedObjects.Count];
}
public StarFieldTracker(List<TrackedObjectConfig> measuringStars)
{
int i = -1;
foreach (var originalObject in measuringStars)
{
i++;
TrackedObject trackedObject = new TrackedObject((byte)i, originalObject);
TrackedObjects.Add(trackedObject);
TrackedObjectsByTargetId.Add(trackedObject.TargetNo, trackedObject);
}
}
private void LocateNonGuidingObject(IAstroImage astroImage, TrackedObject trackedObject, IImagePixel newStaringPos)
{
trackedObject.SetIsLocated(false, NotMeasuredReasons.UnknownReason);
double averageX = 0;
double averageY = 0;
GetAverageObjectPositionsFromGuidingStars(trackedObject, newStaringPos, out averageX, out averageY);
trackedObject.ThisFrameX = (float)averageX;
trackedObject.ThisFrameY = (float)averageY;
trackedObject.PSFFit = null;
trackedObject.ThisSignalLevel = float.NaN;
trackedObject.ThisFrameCertainty = float.NaN;
List<TrackedObject> resolvedGuidingStars = LocateFirstObjects.FindAll(o => o.IsLocated);
if (resolvedGuidingStars.Count == 0)
{
if (m_Refining)
trackedObject.RegisterRefinedPosition(newStaringPos, float.NaN, double.NaN);
}
else
{
FitObjectInLimitedArea(trackedObject, astroImage, (float) averageX, (float) averageY);
if (m_Refining)
trackedObject.RegisterRefinedPosition(
new ImagePixel((int)trackedObject.ThisSignalLevel, trackedObject.ThisFrameX, trackedObject.ThisFrameY),
trackedObject.ThisSignalLevel,
trackedObject.PSFFit != null ? trackedObject.PSFFit.FWHM : double.NaN);
}
}
private void LocateNonGuidingObject(IAstroImage astroImage, TrackedObject trackedObject)
{
IImagePixel prevPos = trackedObject.HasRefinedPositions
? trackedObject.LastRefinedPosition
: trackedObject.LastKnownGoodPosition != null
? trackedObject.LastKnownGoodPosition
: trackedObject.OriginalObject.AsImagePixel;
IImagePixel newStaringPos =
m_AllGuidingStarsFailed
? prevPos
: new ImagePixel(prevPos.Brightness, prevPos.XDouble + m_LastFrameDeltaX, prevPos.YDouble + m_LastFrameDeltaY);
if (trackedObject.OriginalObject.IsWeakSignalObject)
{
LocateNonGuidingObject(astroImage, trackedObject, newStaringPos);
}
else if (trackedObject.OriginalObject.IsFixedAperture)
{
LocateFixedApertureObject(astroImage, trackedObject, newStaringPos);
}
else if (
trackedObject.OriginalObject.TrackingType == TrackingType.OccultedStar &&
LightCurveReductionContext.Instance.FullDisappearance &&
!trackedObject.OriginalObject.IsCloseToOtherStars)
{
LocateFullDisappearingObject(astroImage, trackedObject, newStaringPos);
}
else
{
LocateSingleNonGuidingObject(astroImage, trackedObject, newStaringPos);
}
}
private void LocateFullDisappearingObject(IAstroImage astroImage, TrackedObject trackedObject, IImagePixel newStaringPos)
{
if (m_Refining)
// Full disapearance is not expected during refining
LocateNonGuidingObject(astroImage, trackedObject, newStaringPos);
else
{
double averageX, averageY;
GetAverageObjectPositionsFromGuidingStars(trackedObject, newStaringPos, out averageX, out averageY);
trackedObject.ThisFrameX = (float)averageX + 0.5f;
trackedObject.ThisFrameY = (float)averageY + 0.5f;
trackedObject.PSFFit = null;
trackedObject.ThisSignalLevel = float.NaN;
trackedObject.ThisFrameCertainty = 1;
int x0 = (int) Math.Round(averageX);
int y0 = (int) Math.Round(averageY);
trackedObject.SetIsLocated(false, NotMeasuredReasons.UnknownReason);
PSFFit gaussian = null;
int smallestMatrixSize = (int)Math.Round(trackedObject.OriginalObject.ApertureInPixels * 2);
if (smallestMatrixSize % 2 == 0) smallestMatrixSize++;
// If this is not an aperture photometry we still derive a PSF
uint[,] pixels = astroImage.GetPixelsArea(x0, y0, 17);
for (int i = trackedObject.PsfFitMatrixSize; i >= smallestMatrixSize; i -= 2)
{
int borderZeroes = (trackedObject.PsfFitMatrixSize - i) / 2;
for (int x = 0; x < pixels.GetLength(0); x++)
{
for (int y = 0; y < borderZeroes; y++)
{
pixels[x, y] = 0;
pixels[x, pixels.GetLength(1) - y - 1] = 0;
}
}
for (int y = 0; y < pixels.GetLength(1); y++)
{
for (int x = 0; x < borderZeroes; x++)
{
pixels[x, y] = 0;
pixels[pixels.GetLength(0) - x - 1, y] = 0;
}
}
gaussian = new PSFFit(x0, y0);
gaussian.Fit(pixels, trackedObject.PsfFitMatrixSize);
if (gaussian.IsSolved)
{
double dist = ImagePixel.ComputeDistance((float)gaussian.XCenter, (float)averageX, (float)gaussian.YCenter, (float)averageY);
if (dist <= PositionTolerance)
{
trackedObject.SetIsLocated(true, NotMeasuredReasons.TrackedSuccessfully);
break;
}
else
trackedObject.SetIsLocated(false, NotMeasuredReasons.FoundObjectNotWithInExpectedPositionTolerance);
}
else
trackedObject.SetIsLocated(false, NotMeasuredReasons.PSFFittingFailed);
}
if (gaussian != null)
{
if (!trackedObject.IsLocated)
trackedObject.SetIsLocated(true, NotMeasuredReasons.FullyDisappearingStarMarkedTrackedWithoutBeingFound);
trackedObject.PSFFit = gaussian;
trackedObject.ThisSignalLevel = (float)(gaussian.IMax - gaussian.I0);
trackedObject.ThisFrameX = (float)gaussian.XCenter;
trackedObject.ThisFrameY = (float)gaussian.YCenter;
trackedObject.ThisFrameCertainty = (float)gaussian.Certainty;
}
}
}
private void LocateFixedApertureObject(IAstroImage astroImage, TrackedObject trackedObject, IImagePixel newStaringPos)
{
double averageX = 0;
double averageY = 0;
GetAverageObjectPositionsFromGuidingStars(trackedObject, newStaringPos, out averageX, out averageY);
trackedObject.SetIsLocated(true, NotMeasuredReasons.FixedObject);
trackedObject.ThisFrameX = (float)averageX;
trackedObject.ThisFrameY = (float)averageY;
trackedObject.PSFFit = null;
trackedObject.ThisSignalLevel = float.NaN;
trackedObject.ThisFrameCertainty = float.NaN;
}
private void GetAverageObjectPositionsFromGuidingStars(TrackedObject trackedObject, IImagePixel newStaringPos, out double averageX, out double averageY)
{
List<TrackedObject> resolvedGuidingStars = LocateFirstObjects.FindAll(o => o.IsLocated);
if (resolvedGuidingStars.Count == 0)
{
averageX = newStaringPos.XDouble;
averageY = newStaringPos.YDouble;
}
else
{
averageX = 0;
averageY = 0;
foreach (TrackedObject resolvedGuidingStar in resolvedGuidingStars)
{
if (m_Refining)
{
averageX += (resolvedGuidingStar.ThisFrameX + trackedObject.OriginalObject.ApertureStartingX -
resolvedGuidingStar.OriginalObject.ApertureStartingX);
averageY += (resolvedGuidingStar.ThisFrameY + trackedObject.OriginalObject.ApertureStartingY -
resolvedGuidingStar.OriginalObject.ApertureStartingY);
}
else
{
LocationVector vec =
resolvedGuidingStar.OtherGuidingStarsLocationVectors[trackedObject.TargetNo];
averageX += (resolvedGuidingStar.ThisFrameX + vec.DeltaXToAdd);
averageY += (resolvedGuidingStar.ThisFrameY + vec.DeltaYToAdd);
}
}
averageX /= resolvedGuidingStars.Count;
averageY /= resolvedGuidingStars.Count;
}
}
public override void NextFrame(int frameNo, IAstroImage astroImage)
{
base.NextFrame(frameNo, astroImage);
#region run the full star recognition recovery if enabled
if (TangraConfig.Settings.Tracking.RecoverFromLostTracking &&
m_RefiningFramesLeft <= 0)
{
bool notAllStarsLocated = TrackedObjects.Exists(o => !o.IsLocated);
bool notAllLocateFirstStarsLocated = LocateFirstObjects.Exists(o => !o.IsLocated);
if (notAllLocateFirstStarsLocated && LocateFirstObjects.Count > 1)
{
LocateStarsWithStarRecognition(astroImage);
}
// TODO: Use the notAllStarsLocated to troubleshoot the pattern recognition alignment
}
#endregion
bool allGuidingStarsLocated = true;
foreach (TrackedObject trackedObject in LocateFirstObjects)
{
if (!trackedObject.IsLocated && !trackedObject.IsOffScreen)
{
allGuidingStarsLocated = false;
}
}
if (m_RefiningFramesLeft > 0)
{
if (allGuidingStarsLocated)
{
m_RefiningFramesLeft--;
}
}
else
{
m_IsTrackedSuccessfully =
LocateFirstObjects.Count > 0
? allGuidingStarsLocated
: OccultedStar.IsLocated;
}
if (!m_Refining &&
(LocateFirstObjects.Count > 0 && allGuidingStarsLocated) &&
(LightCurveReductionContext.Instance.FieldRotation || LightCurveReductionContext.Instance.LightCurveReductionType == LightCurveReductionType.MutualEvent))
{
for (int i = 0; i < TrackedObjects.Count; i++)
{
TrackedObject obj1 = TrackedObjects[i] as TrackedObject;
for (int j = 0; j < TrackedObjects.Count; j++)
{
if (i == j)
{
continue;
}
TrackedObject obj2 = TrackedObjects[j] as TrackedObject;
long pairId = (((long)obj1.TargetNo) << 32) + (long)obj2.TargetNo;
double oldDistance = m_RefinedDistances[pairId];
double newDistance = ImagePixel.ComputeDistance(
obj1.Center.XDouble, obj2.Center.XDouble,
obj1.Center.YDouble, obj2.Center.YDouble);
m_RefinedDistances[pairId] = (oldDistance + newDistance) / 2.0;
LocationVector vector = obj1.OtherGuidingStarsLocationVectors[obj2.TargetNo];
vector.DeltaXToAdd = (vector.DeltaXToAdd + obj2.Center.XDouble - obj1.Center.XDouble) / 2;
vector.DeltaYToAdd = (vector.DeltaYToAdd + obj2.Center.YDouble - obj1.Center.YDouble) / 2;
}
}
}
if (!m_IsTrackedSuccessfully)
{
// If the tracking has failed, then some objects may be offscreen and have NaN position
// So inherit the IsOffScreen flag from the previous position
foreach (TrackedObject obj in TrackedObjects)
{
if (m_IsOffScreenPrev[obj.TargetNo] && double.IsNaN(obj.Center.XDouble))
{
obj.SetIsLocated(false, NotMeasuredReasons.ObjectExpectedPositionIsOffScreen);
}
}
}
else
{
foreach (TrackedObject obj in TrackedObjects)
{
m_IsOffScreenPrev[obj.TargetNo] = obj.IsOffScreen;
}
}
}
protected void FitObjectInLimitedArea(TrackedObject trackedObject, IAstroImage astroImage, float startingX, float startingY)
{
int smallestMatrixSize = (int)Math.Round(trackedObject.OriginalObject.ApertureInPixels * 2);
if (smallestMatrixSize % 2 == 0) smallestMatrixSize++;
// If this is not an aperture photometry we still derive a PSF
uint[,] pixels = astroImage.GetPixelsArea((int)Math.Round(startingX), (int)Math.Round(startingY), 17);
bool isFSPSolved = false;
bool isTooFar = true;
for (int i = Math.Max(trackedObject.PsfFitMatrixSize, smallestMatrixSize); i >= smallestMatrixSize; i -= 2)
{
int borderZeroes = (trackedObject.PsfFitMatrixSize - i) / 2;
for (int x = 0; x < pixels.GetLength(0); x++)
{
for (int y = 0; y < borderZeroes; y++)
{
pixels[x, y] = 0;
pixels[x, pixels.GetLength(1) - y - 1] = 0;
}
}
for (int y = 0; y < pixels.GetLength(1); y++)
{
for (int x = 0; x < borderZeroes; x++)
{
pixels[x, y] = 0;
pixels[pixels.GetLength(0) - x - 1, y] = 0;
}
}
PSFFit gaussian = new PSFFit((int)Math.Round(startingX), (int)Math.Round(startingY));
gaussian.Fit(pixels, trackedObject.PsfFitMatrixSize);
isFSPSolved = gaussian.IsSolved;
isTooFar = true;
if (gaussian.IsSolved)
{
trackedObject.ThisFrameCertainty = (float)gaussian.Certainty;
double dist = ImagePixel.ComputeDistance((float)gaussian.XCenter, (float)startingX, (float)gaussian.YCenter, (float)startingY);
if (dist <= PositionTolerance)
{
isTooFar = false;
trackedObject.PSFFit = gaussian;
trackedObject.ThisFrameX = (float)gaussian.XCenter;
trackedObject.ThisFrameY = (float)gaussian.YCenter;
trackedObject.ThisSignalLevel = (float)(gaussian.IMax - gaussian.I0);
trackedObject.ThisFrameCertainty = (float)gaussian.Certainty;
trackedObject.SetIsLocated(true, NotMeasuredReasons.TrackedSuccessfully);
return;
}
}
}
trackedObject.PSFFit = null;
trackedObject.ThisFrameX = startingX;
trackedObject.ThisFrameY = startingY;
trackedObject.SetIsLocated(false,
!isFSPSolved
? NotMeasuredReasons.PSFFittingFailed
: isTooFar
? NotMeasuredReasons.FoundObjectNotWithInExpectedPositionTolerance
: NotMeasuredReasons.UnknownReason);
}
private void LocateSingleNonGuidingObject(IAstroImage astroImage, TrackedObject trackedObject, IImagePixel newStaringPos)
{
LocateNonGuidingObject(astroImage, trackedObject, newStaringPos);
}
private void LocateTwoStarsWithStarRecognition(
List<CandidatePair> candidates, IAstroImage astroImage,
TrackedObject trackedObject1, TrackedObject trackedObject2)
{
try
{
if (candidates.Count > 0)
{
candidates.Sort((c1, c2) => c2.Weight.CompareTo(c1.Weight));
CandidatePair bestPair = candidates[0];
bestPair.Object1.PSFFit = bestPair.Star1;
bestPair.Object1.ThisFrameX = (float)bestPair.Star1.XCenter;
bestPair.Object1.ThisFrameY = (float)bestPair.Star1.YCenter;
bestPair.Object1.ThisFrameCertainty = (float) bestPair.Star1.Certainty;
bestPair.Object1.SetIsLocated(true, NotMeasuredReasons.TrackedSuccessfullyAfterStarRecognition);
bestPair.Object2.PSFFit = bestPair.Star2;
bestPair.Object2.ThisFrameX = (float)bestPair.Star2.XCenter;
bestPair.Object2.ThisFrameY = (float)bestPair.Star2.YCenter;
bestPair.Object2.ThisFrameCertainty = (float)bestPair.Star2.Certainty;
bestPair.Object2.SetIsLocated(true, NotMeasuredReasons.TrackedSuccessfullyAfterStarRecognition);
ReLocateNonGuidingObjects(astroImage);
}
else
{
trackedObject1.SetIsLocated(false, NotMeasuredReasons.FailedToLocateAfterStarRecognition);
trackedObject2.SetIsLocated(false, NotMeasuredReasons.FailedToLocateAfterStarRecognition);
}
}
finally
{
AutoDiscoveredStars.Clear();
}
}
private void LocateTwoStarsWithStarRecognition(
List<PotentialStarStruct> stars, IAstroImage astroImage, uint[,] pixels,
TrackedObject trackedObject1, TrackedObject trackedObject2)
{
List<CandidatePair> candidates = LocateStarPairsWithStarRecognition(trackedObject1, trackedObject2, stars, pixels);
LocateTwoStarsWithStarRecognition(candidates, astroImage, trackedObject1, trackedObject2);
}
private List<CandidatePair> LocateStarPairsWithStarRecognition(TrackedObject trackedObject1, TrackedObject trackedObject2, List<PotentialStarStruct> stars, uint[,] pixels)
{
List<CandidatePair> candidates = new List<CandidatePair>();
double minFWHM = (1 - TangraConfig.Settings.Special.LostTrackingFWHMCoeff) * m_AverageFWHM;
double maxFWHM = (1 + TangraConfig.Settings.Special.LostTrackingFWHMCoeff) * m_AverageFWHM;
if (trackedObject1.TargetNo != trackedObject2.TargetNo &&
trackedObject1.LastKnownGoodPosition != null &&
trackedObject2.LastKnownGoodPosition != null)
{
double deltaX = trackedObject1.LastKnownGoodPosition.X - trackedObject2.LastKnownGoodPosition.X;
double deltaY = trackedObject1.LastKnownGoodPosition.Y - trackedObject2.LastKnownGoodPosition.Y;
// Looking for two stars with the same distance and similar brighness
for (int i = 0; i < stars.Count; i++)
{
for (int j = 0; j < stars.Count; j++)
{
if (i == j) continue;
double deltaXStars = stars[i].X - stars[j].X;
double deltaYStars = stars[i].Y - stars[j].Y;
if (Math.Abs(deltaX - deltaXStars) < TangraConfig.Settings.Special.LostTrackingPositionToleranceCoeff * PositionTolerance &&
Math.Abs(deltaY - deltaYStars) < TangraConfig.Settings.Special.LostTrackingPositionToleranceCoeff * PositionTolerance)
{
// Now compute PSFFits from the pixels
PSFFit fit1 = AstroImage.GetPSFFitForPeakPixel(pixels, stars[i], m_MinLocateSignal, minFWHM, maxFWHM);
PSFFit fit2 = AstroImage.GetPSFFitForPeakPixel(pixels, stars[j], m_MinLocateSignal, minFWHM, maxFWHM);
if (fit1 != null && fit2 != null)
{
AutoDiscoveredStars.Add(fit1);
AutoDiscoveredStars.Add(fit2);
deltaXStars = fit1.XCenter - fit2.XCenter;
deltaYStars = fit1.YCenter - fit2.YCenter;
if (Math.Abs(deltaX - deltaXStars) < PositionTolerance &&
Math.Abs(deltaY - deltaYStars) < PositionTolerance)
{
// Compute a certainty and add to the candidates dictionary
CandidatePair pair = new CandidatePair();
pair.Star1 = fit1;
pair.Star2 = fit2;
pair.Object1 = trackedObject1;
pair.Object2 = trackedObject2;
int[] BRIGTHNESS_MATCH_WEIGTH = new int[] { 0, 0, 0, 0, 0, 1, 1, 1, 2, 3, 3 };
int weight = (trackedObject1.IsGuidingStar ? 2 : 0) + (trackedObject2.IsGuidingStar ? 2 : 0);
double d1 = pair.Star1.IMax - pair.Star1.I0;
double d2 = pair.Star2.IMax - pair.Star2.I0;
d1 = pair.Object1.RefinedOrLastSignalLevel / d1;
if (d1 > 1) d1 = 1 / d1;
int d1i = Math.Min(10, (int)Math.Round((1 - d1) * 10));
weight += BRIGTHNESS_MATCH_WEIGTH[d1i];
d2 = pair.Object2.RefinedOrLastSignalLevel / d2;
if (d2 > 1) d2 = 1 / d2;
int d2i = Math.Min(10, (int)Math.Round((1 - d2) * 10));
weight += BRIGTHNESS_MATCH_WEIGTH[d2i];
double distanceFromLastKnownGoodPosition =
ImagePixel.ComputeDistance(
pair.Star1.XCenter, pair.Object1.LastKnownGoodPosition.XDouble,
pair.Star1.YCenter, pair.Object1.LastKnownGoodPosition.YDouble);
int closeToPrevCoeff = LightCurveReductionContext.Instance.WindOrShaking ? 2 : 1;
int closeToPrevPosWeighting = 0;
if (distanceFromLastKnownGoodPosition < 4 * closeToPrevCoeff)
closeToPrevPosWeighting = 3;
else if (distanceFromLastKnownGoodPosition < 8 * closeToPrevCoeff)
closeToPrevPosWeighting = 2;
else if (distanceFromLastKnownGoodPosition < 16 * closeToPrevCoeff)
closeToPrevPosWeighting = 1;
else if (distanceFromLastKnownGoodPosition > 32 * closeToPrevCoeff)
closeToPrevPosWeighting = -1;
weight += closeToPrevPosWeighting;
pair.Weight = weight;
candidates.Add(pair);
}
else
Trace.WriteLine("Pair with close distances has been rejected.");
}
}
}
}
}
return candidates;
}
public SpectroscopyStarTracker(TrackedObjectConfig starConfig)
{
TrackedStar = new TrackedObject(0, starConfig);
TrackedStar.LastKnownGoodPosition = new ImagePixel(starConfig.ApertureStartingX, starConfig.ApertureStartingY);
}
private void LocateObjectAsGuidingStar(IAstroImage astroImage, TrackedObject trackedObject, bool useLowPassFilter)
{
trackedObject.SetIsLocated(false, NotMeasuredReasons.UnknownReason);
int bestMaxFixAreaSize = !float.IsNaN(trackedObject.OriginalObject.RefinedFWHM) ? (int)(6 * trackedObject.OriginalObject.RefinedFWHM) : 17;
if (bestMaxFixAreaSize > 17) bestMaxFixAreaSize = 35; // We only support FSP Fitting of 17 or 35 square matrixes
if (bestMaxFixAreaSize < 17) bestMaxFixAreaSize = 17;
// Try all fits from 5 to 15. Find the one with the highest peak, then do a fit around this area with the configured psf matrix size
uint[,] pixels;
if (useLowPassFilter)
{
pixels = astroImage.GetPixelsArea((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY, bestMaxFixAreaSize + 2);
pixels = EnhanceByteAreaForSearch(pixels);
}
else
{
pixels = astroImage.GetPixelsArea((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY, bestMaxFixAreaSize);
}
// There is only one object in the area, just do a wide fit followed by a fit with the selected matrix size
PSFFit gaussian = new PSFFit((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY);
gaussian.Fit(pixels, bestMaxFixAreaSize);
if (gaussian.Certainty < TangraConfig.Settings.Special.MinGuidingStarCertainty &&
(trackedObject.LastKnownGoodPsfCertainty > TangraConfig.Settings.Special.GoodGuidingStarCertainty || LightCurveReductionContext.Instance.HighFlickeringOrLargeStars))
{
// We have a problem. Try to find the star in the area using other means
IImagePixel centroid = astroImage.GetCentroid((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY, bestMaxFixAreaSize, m_MedianValue);
if (centroid != null)
{
double maxAllowedDistance = !float.IsNaN(trackedObject.OriginalObject.RefinedFWHM)
? 2 * trackedObject.OriginalObject.RefinedFWHM
: 3 * TangraConfig.Settings.Special.LostTrackingMinDistance;
if (LightCurveReductionContext.Instance.WindOrShaking) maxAllowedDistance *= 1.5;
if (centroid.DistanceTo(new ImagePixel((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY)) < maxAllowedDistance)
{
pixels = astroImage.GetPixelsArea(centroid.X, centroid.Y, bestMaxFixAreaSize);
gaussian = new PSFFit(centroid.X, centroid.Y);
gaussian.Fit(pixels, bestMaxFixAreaSize);
}
}
}
IImagePixel firstCenter =
gaussian.IsSolved
? new ImagePixel(gaussian.Brightness, (int)gaussian.XCenter, (int)gaussian.YCenter)
: astroImage.GetCentroid((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY, bestMaxFixAreaSize, m_MedianValue);
if (!gaussian.IsSolved || gaussian.Certainty < TangraConfig.Settings.Special.MinGuidingStarCertainty)
firstCenter = null;
if (firstCenter != null)
{
// Do a second fit
pixels = astroImage.GetPixelsArea(firstCenter.X, firstCenter.Y, bestMaxFixAreaSize);
int secondFitAreaSize = Math.Max(trackedObject.PsfFitMatrixSize, (int)Math.Round(gaussian.FWHM * 2.5));
if (secondFitAreaSize % 2 == 0) secondFitAreaSize++;
secondFitAreaSize = Math.Min(17, secondFitAreaSize);
gaussian = new PSFFit(firstCenter.X, firstCenter.Y);
gaussian.Fit(pixels, secondFitAreaSize);
if (gaussian.IsSolved)
{
double signal = gaussian.IMax - gaussian.I0; if (signal < 0) signal = 0;
double brightnessFluctoation = signal > trackedObject.RefinedOrLastSignalLevel
? signal / trackedObject.RefinedOrLastSignalLevel
: trackedObject.RefinedOrLastSignalLevel / signal;
//double brightnessFluctoation = (trackedObject.RefinedOrLastSignalLevel - gaussian.IMax + gaussian.I0) / trackedObject.RefinedOrLastSignalLevel;
double fluckDiff = Math.Abs(brightnessFluctoation)/m_AllowedSignalFluctoation;
//if (trackedObject.LastSignalLevel != 0 &&
// fluckDiff > 1 &&
// LightCurveReductionContext.Instance.WindOrShaking)
//{
// // If the located object is not similar brightness as expected, then search for our object in a wider area
// try
// {
// IImagePixel centroid = astroImage.GetCentroid((int)trackedObject.LastFrameX, (int)trackedObject.LastFrameY, 14, m_MedianValueStart);
// pixels = astroImage.GetPixelsArea(centroid.X, centroid.Y, 17);
// gaussian = new PSFFit(centroid.X, centroid.Y);
// gaussian.Fit(pixels, trackedObject.PsfFitMatrixSize);
// if (gaussian.IsSolved)
// {
// signal = gaussian.IMax - gaussian.I0; if (signal < 0) signal = 0;
// brightnessFluctoation = signal > trackedObject.RefinedOrLastSignalLevel
// ? signal / trackedObject.RefinedOrLastSignalLevel
// : trackedObject.RefinedOrLastSignalLevel / signal;
// //brightnessFluctoation = (trackedObject.RefinedOrLastSignalLevel - gaussian.IMax + gaussian.I0) / trackedObject.RefinedOrLastSignalLevel;
// fluckDiff = Math.Abs(brightnessFluctoation) / m_AllowedSignalFluctoation;
// }
// else
// {
// Trace.WriteLine(string.Format("Frame {0}: Cannot confirm target {1} [Guiding.WindOrShaking]. Cannot solve third PSF", m_FrameNo, trackedObject.TargetNo));
// }
// }
// catch { }
//}
if (!trackedObject.HasRefinedPositions || fluckDiff < 1 || LightCurveReductionContext.Instance.HighFlickeringOrLargeStars)
{
trackedObject.PSFFit = gaussian;
trackedObject.ThisFrameX = (float)gaussian.XCenter;
trackedObject.ThisFrameY = (float)gaussian.YCenter;
trackedObject.ThisSignalLevel = (float)(gaussian.IMax - gaussian.I0);
trackedObject.ThisFrameCertainty = (float) gaussian.Certainty;
trackedObject.SetIsLocated(true, NotMeasuredReasons.TrackedSuccessfully);
if (m_Refining)
{
trackedObject.RegisterRefinedPosition(trackedObject.Center, trackedObject.ThisSignalLevel, gaussian.FWHM);
}
}
else
{
if (useLowPassFilter)
{
// Only show the warning the second time around
Trace.WriteLine(
string.Format(
"Frame {0}: Guiding target #{1} is suspect because the brightness fluctuation is too big: {2}",
m_FrameNo, trackedObject.TargetNo, fluckDiff.ToString("0.00")));
trackedObject.SetIsLocated(false, NotMeasuredReasons.GuidingStarBrightnessFluctoationTooHigh);
}
}
}
else
{
Trace.WriteLine(string.Format("Frame {0}: Cannot confirm target {1} [Guiding]. Cannot solve second PSF", m_FrameNo, trackedObject.TargetNo));
trackedObject.SetIsLocated(false, NotMeasuredReasons.PSFFittingFailed);
}
}
else
{
Trace.WriteLine(string.Format("Frame {0}: Cannot confirm target {1} [Guiding]. Cannot solve first PSF", m_FrameNo, trackedObject.TargetNo));
trackedObject.SetIsLocated(false, NotMeasuredReasons.PSFFittingFailed);
}
if (!trackedObject.IsLocated)
{
// Could not locate the object this time
trackedObject.ThisSignalLevel = trackedObject.LastSignalLevel;
if (m_Refining)
{
// Use the last known coordinates for refining frames
trackedObject.ThisFrameX = trackedObject.LastFrameX;
trackedObject.ThisFrameY = trackedObject.LastFrameY;
trackedObject.ThisSignalLevel = trackedObject.LastSignalLevel;
trackedObject.ThisFrameCertainty = (float)trackedObject.LastKnownGoodPsfCertainty;
trackedObject.RegisterRefinedPosition(ImagePixel.Unspecified, float.NaN, double.NaN);
}
else
{
// Make the position invalid, which will cause the distance check for this object to fail
// which will trigger another fitting later on. Eventually the previous position may be still used
trackedObject.ThisFrameX = float.NaN;
trackedObject.ThisFrameY = float.NaN;
trackedObject.ThisFrameCertainty = float.NaN;
}
}
}
protected PSFFit GetBestFitGaussian(AstroImage astroImage, TrackedObject guidingStar)
{
// Try all fits from 5 to 15. Find the one with the highest peak, then do a fit around this area with the configured psf matrix size
uint[,] pixels = astroImage.GetMeasurableAreaPixels((int)guidingStar.LastFrameX, (int)guidingStar.LastFrameY);
PSFFit bestGaussian = null;
if (!guidingStar.OriginalObject.IsCloseToOtherStars)
{
// There is only one object in the area, just do a whide fit followed by a fit with the selected matrix size
PSFFit gaussian = new PSFFit((int) guidingStar.LastFrameX, (int) guidingStar.LastFrameY);
gaussian.Fit(pixels, pixels.GetLength(0));
if (gaussian.IsSolved)
{
bestGaussian = gaussian;
}
}
else
{
// There is more than one object in the area. We need a smarter way to find the one we need.
if (guidingStar.IsOccultedStar)
{
for (int matSize = 5; matSize < 15; matSize += 2)
{
PSFFit gaussian = new PSFFit((int) guidingStar.LastFrameX, (int) guidingStar.LastFrameY);
gaussian.Fit(pixels, matSize);
if (gaussian.IsSolved)
{
if (bestGaussian == null ||
bestGaussian.IMax < gaussian.IMax)
{
bestGaussian = gaussian;
}
}
}
}
else
{
PSFFit gaussian = new PSFFit((int) guidingStar.LastFrameX, (int) guidingStar.LastFrameY);
gaussian.Fit(pixels, guidingStar.PsfFitMatrixSize);
}
}
if (bestGaussian != null)
{
pixels = astroImage.GetMeasurableAreaPixels((int)bestGaussian.XCenter, (int)bestGaussian.YCenter);
bestGaussian = new PSFFit((int)bestGaussian.XCenter, (int)bestGaussian.YCenter);
bestGaussian.Fit(pixels, guidingStar.PsfFitMatrixSize);
}
return bestGaussian;
}
public double ComputeRefinedDistances(TrackedObject obj2, out double vectorX, out double vectorY)
{
double refinedDistance = double.NaN;
if (this.OriginalObject.IsFixedAperture ||
obj2.OriginalObject.IsFixedAperture)
{
// For manually placed apertures, return the initial distances
vectorX = obj2.OriginalObject.ApertureStartingX - this.OriginalObject.ApertureStartingX;
vectorY = obj2.OriginalObject.ApertureStartingY - this.OriginalObject.ApertureStartingY;
return Math.Sqrt(vectorX * vectorX + vectorY * vectorY);
}
List<double> distances = new List<double>();
double xVector = 0;
double yVector = 0;
for (int k = 0; k < RefiningPositions.Count; k++)
{
IImagePixel pos1 = RefiningPositions[k];
IImagePixel pos2 = obj2.RefiningPositions[k];
if (pos1.IsSpecified &&
pos2.IsSpecified)
{
// Compute and average the distance
double dist = Math.Sqrt((pos1.XDouble - pos2.XDouble) * (pos1.XDouble - pos2.XDouble) + (pos1.YDouble - pos2.YDouble) * (pos1.YDouble - pos2.YDouble));
distances.Add(dist);
xVector += (pos2.XDouble - pos1.XDouble);
yVector += (pos2.YDouble - pos1.YDouble);
}
}
// Get the median and add in the final dict
distances.Sort();
if (distances.Count % 2 == 1)
refinedDistance = distances[distances.Count / 2];
else if (distances.Count > 0)
refinedDistance = 0.5 * (distances[(distances.Count / 2) - 1] + distances[distances.Count / 2]);
vectorX = xVector / distances.Count;
vectorY = yVector / distances.Count;
return refinedDistance;
}
private List <CandidatePair> LocateStarPairsWithStarRecognition(TrackedObject trackedObject1, TrackedObject trackedObject2, List <PotentialStarStruct> stars, uint[,] pixels)
{
List <CandidatePair> candidates = new List <CandidatePair>();
double minFWHM = (1 - TangraConfig.Settings.Special.LostTrackingFWHMCoeff) * m_AverageFWHM;
double maxFWHM = (1 + TangraConfig.Settings.Special.LostTrackingFWHMCoeff) * m_AverageFWHM;
if (trackedObject1.TargetNo != trackedObject2.TargetNo &&
trackedObject1.LastKnownGoodPosition != null &&
trackedObject2.LastKnownGoodPosition != null)
{
double deltaX = trackedObject1.LastKnownGoodPosition.X - trackedObject2.LastKnownGoodPosition.X;
double deltaY = trackedObject1.LastKnownGoodPosition.Y - trackedObject2.LastKnownGoodPosition.Y;
// Looking for two stars with the same distance and similar brighness
for (int i = 0; i < stars.Count; i++)
{
for (int j = 0; j < stars.Count; j++)
{
if (i == j)
{
continue;
}
double deltaXStars = stars[i].X - stars[j].X;
double deltaYStars = stars[i].Y - stars[j].Y;
if (Math.Abs(deltaX - deltaXStars) < TangraConfig.Settings.Special.LostTrackingPositionToleranceCoeff * PositionTolerance &&
Math.Abs(deltaY - deltaYStars) < TangraConfig.Settings.Special.LostTrackingPositionToleranceCoeff * PositionTolerance)
{
// Now compute PSFFits from the pixels
PSFFit fit1 = AstroImage.GetPSFFitForPeakPixel(pixels, stars[i], m_MinLocateSignal, minFWHM, maxFWHM);
PSFFit fit2 = AstroImage.GetPSFFitForPeakPixel(pixels, stars[j], m_MinLocateSignal, minFWHM, maxFWHM);
if (fit1 != null && fit2 != null)
{
AutoDiscoveredStars.Add(fit1);
AutoDiscoveredStars.Add(fit2);
deltaXStars = fit1.XCenter - fit2.XCenter;
deltaYStars = fit1.YCenter - fit2.YCenter;
if (Math.Abs(deltaX - deltaXStars) < PositionTolerance &&
Math.Abs(deltaY - deltaYStars) < PositionTolerance)
{
// Compute a certainty and add to the candidates dictionary
CandidatePair pair = new CandidatePair();
pair.Star1 = fit1;
pair.Star2 = fit2;
pair.Object1 = trackedObject1;
pair.Object2 = trackedObject2;
int[] BRIGTHNESS_MATCH_WEIGTH = new int[] { 0, 0, 0, 0, 0, 1, 1, 1, 2, 3, 3 };
int weight = (trackedObject1.IsGuidingStar ? 2 : 0) + (trackedObject2.IsGuidingStar ? 2 : 0);
double d1 = pair.Star1.IMax - pair.Star1.I0;
double d2 = pair.Star2.IMax - pair.Star2.I0;
d1 = pair.Object1.RefinedOrLastSignalLevel / d1;
if (d1 > 1)
{
d1 = 1 / d1;
}
int d1i = Math.Min(10, (int)Math.Round((1 - d1) * 10));
weight += BRIGTHNESS_MATCH_WEIGTH[d1i];
d2 = pair.Object2.RefinedOrLastSignalLevel / d2;
if (d2 > 1)
{
d2 = 1 / d2;
}
int d2i = Math.Min(10, (int)Math.Round((1 - d2) * 10));
weight += BRIGTHNESS_MATCH_WEIGTH[d2i];
double distanceFromLastKnownGoodPosition =
ImagePixel.ComputeDistance(
pair.Star1.XCenter, pair.Object1.LastKnownGoodPosition.XDouble,
pair.Star1.YCenter, pair.Object1.LastKnownGoodPosition.YDouble);
int closeToPrevCoeff = LightCurveReductionContext.Instance.WindOrShaking ? 2 : 1;
int closeToPrevPosWeighting = 0;
if (distanceFromLastKnownGoodPosition < 4 * closeToPrevCoeff)
{
closeToPrevPosWeighting = 3;
}
else if (distanceFromLastKnownGoodPosition < 8 * closeToPrevCoeff)
{
closeToPrevPosWeighting = 2;
}
else if (distanceFromLastKnownGoodPosition < 16 * closeToPrevCoeff)
{
closeToPrevPosWeighting = 1;
}
else if (distanceFromLastKnownGoodPosition > 32 * closeToPrevCoeff)
{
closeToPrevPosWeighting = -1;
}
weight += closeToPrevPosWeighting;
pair.Weight = weight;
candidates.Add(pair);
}
else
{
Trace.WriteLine("Pair with close distances has been rejected.");
}
}
}
}
}
}
return(candidates);
}
