public static void RegisterFailedPyramid(PyramidEntry entry)
{
lock (s_SyncLock)
{
s_FailedPyramidEntries.Add(entry);
}
}
public static void RegisterFailedPyramid(PyramidEntry entry)
{
lock(s_SyncLock)
{
s_FailedPyramidEntries.Add(entry);
}
}
private LeastSquareFittedAstrometry SolveStarPairs(
IStarMap starMap,
Dictionary<ImagePixel, IStar> matchedPairs,
Dictionary<int, ulong> matchedFeatureIdToStarIdIndexes,
ThreeStarFit.StarPair pair_i,
ThreeStarFit.StarPair pair_j,
ThreeStarFit.StarPair pair_k,
double fittedFocalLength,
PyramidEntry pyramidLog,
int? minMatchedStars = null)
{
double RA0Deg, DE0Deg;
ThreeStarFit coarseFit = new ThreeStarFit(m_PlateConfig, pair_i, pair_j, pair_k);
if (!coarseFit.IsSolved)
{
if (coarseFit.IsSingularity)
{
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine("ThreeStarFit.Var1 - Singularity");
Dictionary<ImagePixel, IStar> threeStarDict = new Dictionary<ImagePixel, IStar>();
try
{
threeStarDict.Add(ImagePixel.CreateImagePixelWithFeatureId(0, 255, pair_i.XImage, pair_i.YImage), pair_i.Star);
threeStarDict.Add(ImagePixel.CreateImagePixelWithFeatureId(1, 255, pair_j.XImage, pair_j.YImage), pair_j.Star);
threeStarDict.Add(ImagePixel.CreateImagePixelWithFeatureId(2, 255, pair_k.XImage, pair_k.YImage), pair_k.Star);
}
catch(ArgumentException)
{
if (pyramidLog != null) pyramidLog.FailureReason = PyramidEntryFailureReason.ThreeStarFitFailed;
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine("ThreeStarFit.Var2 - Failed with ArgumentException");
return null;
}
DirectTransRotAstrometry threeStarSolution =
DirectTransRotAstrometry.SolveByThreeStars(m_PlateConfig, threeStarDict, 2);
if (threeStarSolution == null)
{
if (pyramidLog != null) pyramidLog.FailureReason = PyramidEntryFailureReason.ThreeStarFitFailed;
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine("ThreeStarFit.Var2 - Failed");
return null;
}
else
{
RA0Deg = threeStarSolution.RA0Deg;
DE0Deg = threeStarSolution.DE0Deg;
}
}
else
{
if (pyramidLog != null) pyramidLog.FailureReason = PyramidEntryFailureReason.ThreeStarFitFailed;
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine("ThreeStarFit.Var1 - Failed");
return null;
}
}
else
{
if (pyramidLog != null) pyramidLog.RegisterThreeStarFit(coarseFit);
RA0Deg = coarseFit.RA0Deg;
DE0Deg = coarseFit.DE0Deg;
}
#if DEBUG || PYRAMID_DEBUG
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
{
foreach (int key in matchedFeatureIdToStarIdIndexes.Keys)
#if PYRAMID_DEBUG
Trace
#else
Debug
#endif
.WriteLine(string.Format("Star({0}) -> Feature({1})", matchedFeatureIdToStarIdIndexes[key], key));
}
#endif
PlateConstantsSolver solver = new PlateConstantsSolver(m_PlateConfig);
solver.InitPlateSolution(RA0Deg, DE0Deg);
foreach (ImagePixel feature in matchedPairs.Keys)
{
IStar star = matchedPairs[feature];
var kvp = matchedFeatureIdToStarIdIndexes.Single(x => x.Value == star.StarNo);
int featureId = kvp.Key;
solver.AddStar(feature, star, featureId);
}
LeastSquareFittedAstrometry leastSquareFittedAstrometry = null;
LeastSquareFittedAstrometry firstFit = null;
try
{
// This is a linear regression when doing simple field alignment. We always use a Linear Fit
leastSquareFittedAstrometry = solver.SolveWithLinearRegression(
FitOrder.Linear,
CorePyramidConfig.Default.MinPyramidAlignedStars,
m_MaxLeastSquareResidual,
out firstFit);
}
catch (DivideByZeroException)
{ }
if (leastSquareFittedAstrometry != null)
{
if (pyramidLog != null) pyramidLog.RegisterLinearFit(leastSquareFittedAstrometry);
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine("Checking possible solution. ");
List<ulong> usedStarIds = leastSquareFittedAstrometry.FitInfo.AllStarPairs
.Where(p => p.FitInfo.UsedInSolution)
.Select(p => p.StarNo)
.ToList();
int usedStars = usedStarIds.Count;
matchedFeatureIdToStarIdIndexes = matchedFeatureIdToStarIdIndexes
.Where(kvp => usedStarIds.Contains(kvp.Value))
.ToDictionary(kvp => kvp.Key, kvp => kvp.Value);
List<double> residuals =
leastSquareFittedAstrometry.FitInfo.AllStarPairs
.Where(p => !p.FitInfo.ExcludedForHighResidual)
.Select(p => p.FitInfo.ResidualArcSec)
.ToList();
double secondLargeResidual = 0;
if (residuals.Count > 0)
{
residuals = residuals.OrderByDescending(r => r).ToList();
secondLargeResidual = residuals.Count > 1 ? residuals[1] : residuals[0];
}
double onePixDistArcSec = m_PlateConfig.GetDistanceInArcSec(0, 0, 1, 1);
if (secondLargeResidual > onePixDistArcSec * CorePyramidConfig.Default.MaxAllowedResidualInPixelsInSuccessfulFit)
{
if (pyramidLog != null) pyramidLog.FailureReason = PyramidEntryFailureReason.SecondLargestResidualIsTooLarge;
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine(string.Format(
"Failing preliminary solution because the second largest residual {0}\" is larger than {1}px",
secondLargeResidual.ToString("0.0"), CorePyramidConfig.Default.MaxAllowedResidualInPixelsInSuccessfulFit));
return null;
}
if (minMatchedStars.HasValue)
{
if (usedStars < minMatchedStars.Value)
{
if (pyramidLog != null) pyramidLog.FailureReason = PyramidEntryFailureReason.InsufficientStarsForCalibration;
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine(string.Format(
"Failing preliminary solution because on {0} stars are used but {1} are required as a minimum for calibration.",
usedStars, CorePyramidConfig.Default.MinMatchedStarsForCalibration));
return null;
}
}
}
else
{
if (pyramidLog != null) pyramidLog.FailureReason = PyramidEntryFailureReason.LinearFitFailed;
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
{
Debug.WriteLine("DistanceBasedContext.LeastSquareFittedAstrometry Failed!");
foreach (PlateConstStarPair pair in solver.Pairs)
{
#if PYRAMID_DEBUG
Trace
#else
Debug
#endif
.WriteLine(string.Format("{0} ({1}) -> Residuals: {2}\", {3}\"", pair.StarNo,
pair.FitInfo.UsedInSolution ? "Included" : "Excluded",
pair.FitInfo.ResidualRAArcSec.ToString("0.00"),
pair.FitInfo.ResidualDEArcSec.ToString("0.00")));
}
}
}
if (leastSquareFittedAstrometry != null)
{
leastSquareFittedAstrometry.FitInfo.FittedFocalLength = fittedFocalLength;
if (pyramidLog != null) pyramidLog.RegisterFocalLength(fittedFocalLength);
}
return leastSquareFittedAstrometry;
}
internal IAstrometricFit IsSuccessfulMatch(
IStarMap starMap,
int i, int j, int k,
DistanceEntry ijEntry, DistanceEntry ikEntry, DistanceEntry jkEntry,
ulong iStarNo, ulong starNo2, ulong starNo3, double fittedFocalLength, bool isRatioFittedFocalLength, double toleranceInArcSec)
{
i--;
j--;
k--;
ImagePixel feature_i = GetCenterOfFeature(starMap.GetFeatureById(i), starMap);
ImagePixel feature_j = GetCenterOfFeature(starMap.GetFeatureById(j), starMap);
ImagePixel feature_k = GetCenterOfFeature(starMap.GetFeatureById(k), starMap);
#region find the numbers of the three stars: i, j, k
#if ASTROMETRY_DEBUG
Trace.Assert(ijEntry.Star1.StarNo == iStarNo || ijEntry.Star2.StarNo == iStarNo);
#endif
ulong jStarNo, kStarNo;
if (ijEntry.Star1.StarNo == iStarNo)
{
jStarNo = ijEntry.Star2.StarNo;
if (ijEntry.Star2.StarNo == starNo2) kStarNo = starNo3; else kStarNo = starNo2;
}
else
{
jStarNo = ijEntry.Star1.StarNo;
if (ijEntry.Star1.StarNo == starNo2) kStarNo = starNo3; else kStarNo = starNo2;
}
#if ASTROMETRY_DEBUG
Trace.Assert(ikEntry.Star1.StarNo == kStarNo || ikEntry.Star2.StarNo == kStarNo);
Trace.Assert(jkEntry.Star1.StarNo == kStarNo || jkEntry.Star2.StarNo == kStarNo);
#endif
#endregion
//if (DebugResolvedStars != null)
//{
// uint ii = 0, jj = 0, kk = 0;
// if (DebugResolvedStars.TryGetValue(i + 1, out ii) &&
// DebugResolvedStars.TryGetValue(j + 1, out jj) &&
// DebugResolvedStars.TryGetValue(k + 1, out kk))
// {
// if (ii == iStarNo && jj == starNo2 && kk == starNo3)
// {
// Debugger.Break();
// }
// else
// Trace.WriteLine(string.Format("PYRAMID: {0} = {1}, {2} = {3}, {4} = {5}",
// i, i == ii ? "YES" : "NO"
// , j, j == jj ? "YES" : "NO"
// , k, k == kk ? "YES" : "NO"));
// }
// else
// Trace.WriteLine(string.Format("PYRAMID: {0} = {1}, {2} = {3}, {4} = {5}",
// i, i == ii ? "YES" : "MISSING"
// , j, j == jj ? "YES" : "MISSING"
// , k, k == kk ? "YES" : "MISSING"));
//}
#if ASTROMETRY_DEBUG
PyramidEntry pyramidLog = new PyramidEntry(i, j, k, feature_i, feature_j, feature_k, iStarNo, jStarNo, kStarNo);
#endif
//// Note this is actually cheap way to confirm whether the 3 stars are good or not.
//List<IStar> threeStars = m_CelestialAllStars.FindAll(s => s.StarNo == iStarNo || s.StarNo == jStarNo || s.StarNo == kStarNo);
//if (threeStars.Count == 3)
//{
// Dictionary<AstroPixel, IStar> threeStarDict = new Dictionary<AstroPixel, IStar>();
// IStar stari = threeStars.Find(s => s.StarNo == iStarNo);
// threeStarDict.Add(feature_i, stari);
// IStar starj = threeStars.Find(s => s.StarNo == jStarNo);
// threeStarDict.Add(feature_j, starj);
// IStar stark = threeStars.Find(s => s.StarNo == kStarNo);
// threeStarDict.Add(feature_k, stark);
// DirectTransRotAstrometry solution = DirectTransRotAstrometry.SolveByThreeStars(m_PlateConfig, threeStarDict);
// if (solution != null)
// {
// pyramidLog.RegisterPreliminaryThreeStarFit(solution);
// }
//}
int locatedStars = 3;
m_MatchedPairs.Clear();
m_AmbiguousMatches.Clear();
m_MatchedFeatureIdToStarIdIndexes.Clear();
List<ulong> usedPyramidAngles = new List<ulong>();
foreach (StarMapFeature feature in starMap.Features)
{
if (feature.FeatureId == i) continue;
if (feature.FeatureId == j) continue;
if (feature.FeatureId == k) continue;
long idx_ix = ((long)i << 32) + (long)feature.FeatureId;
double dist_ix;
ImagePixel feature_x = GetCenterOfFeature(feature, starMap);
if (m_MatchedPairs.ContainsKey(feature_x)) continue;
if (isRatioFittedFocalLength || !m_FeaturesDistanceCache.TryGetValue(idx_ix, out dist_ix))
{
dist_ix = m_PlateConfig.GetDistanceInArcSec(feature_i.X, feature_i.Y, feature_x.X, feature_x.Y, fittedFocalLength);
long idx_xi = ((long)feature.FeatureId << 32) + (long)i;
if (!isRatioFittedFocalLength)
{
m_FeaturesDistanceCache.Add(idx_ix, dist_ix);
m_FeaturesDistanceCache.Add(idx_xi, dist_ix);
}
}
Dictionary<ulonglong, DistanceEntry> iStarDists = m_StarsDistanceCache[iStarNo];
foreach (ulonglong key in iStarDists.Keys)
{
// We have found a distance that matches the current feature
ulong xStarNo = key.Lo;
if (usedPyramidAngles.IndexOf(xStarNo) != -1) continue;
DistanceEntry entry_ix = iStarDists[key];
if (entry_ix.DistanceArcSec + toleranceInArcSec < dist_ix) continue;
if (entry_ix.DistanceArcSec - toleranceInArcSec > dist_ix) continue;
Dictionary<ulonglong, DistanceEntry> xStarDists = m_StarsDistanceCache[xStarNo];
#region Test the J-X pair
ulonglong jxKey = new ulonglong(xStarNo , jStarNo);
DistanceEntry entry_jx;
if (!xStarDists.TryGetValue(jxKey, out entry_jx)) continue;
long idx_jx = ((long)j << 32) + (long)feature.FeatureId;
double dist_jx;
if (isRatioFittedFocalLength || !m_FeaturesDistanceCache.TryGetValue(idx_jx, out dist_jx))
{
dist_jx = m_PlateConfig.GetDistanceInArcSec(feature_j.X, feature_j.Y, feature_x.X, feature_x.Y, fittedFocalLength);
long idx_xj = ((long)feature.FeatureId << 32) + (long)j;
if (!isRatioFittedFocalLength)
{
m_FeaturesDistanceCache.Add(idx_jx, dist_jx);
m_FeaturesDistanceCache.Add(idx_xj, dist_jx);
}
}
if (entry_jx.DistanceArcSec + toleranceInArcSec < dist_jx) continue;
if (entry_jx.DistanceArcSec - toleranceInArcSec > dist_jx) continue;
#endregion
#region Test the K-X pair
ulonglong kxKey = new ulonglong(xStarNo, kStarNo);
DistanceEntry entry_kx;
if (!xStarDists.TryGetValue(kxKey, out entry_kx)) continue;
long idx_kx = ((long)k << 32) + (long)feature.FeatureId;
double dist_kx;
if (isRatioFittedFocalLength || !m_FeaturesDistanceCache.TryGetValue(idx_kx, out dist_kx))
{
dist_kx = m_PlateConfig.GetDistanceInArcSec(feature_k.X, feature_k.Y, feature_x.X, feature_x.Y, fittedFocalLength);
long idx_xk = ((long)feature.FeatureId << 32) + (long)k;
if (!isRatioFittedFocalLength)
{
m_FeaturesDistanceCache.Add(idx_kx, dist_kx);
m_FeaturesDistanceCache.Add(idx_xk, dist_kx);
}
}
if (entry_kx.DistanceArcSec + toleranceInArcSec < dist_kx) continue;
if (entry_kx.DistanceArcSec - toleranceInArcSec > dist_kx) continue;
#endregion
// If we are here, then we have found another star
locatedStars++;
IStar xStar = entry_kx.Star1.StarNo == xStarNo ? entry_kx.Star1 : entry_kx.Star2;
#if ASTROMETRY_DEBUG
Trace.Assert(xStar.StarNo != iStarNo);
Trace.Assert(xStar.StarNo != jStarNo);
Trace.Assert(xStar.StarNo != kStarNo);
#endif
if (RegisterRecognizedPair(feature_x, xStar, feature.FeatureId))
{
usedPyramidAngles.Add(xStar.StarNo);
}
//Console.WriteLine(string.Format(" {0} ({1}) {2}\" {3}\" {4}\"", xStarNo, feature.FeatureId, dist_ix.ToString("0.0"), dist_jx.ToString("0.0"), dist_kx.ToString("0.0")));
}
}
if (locatedStars >= CorePyramidConfig.Default.MinPyramidAlignedStars)
{
ThreeStarFit.StarPair pair_i = new ThreeStarFit.StarPair(feature_i.X, feature_i.Y);
ThreeStarFit.StarPair pair_j = new ThreeStarFit.StarPair(feature_j.X, feature_j.Y);
ThreeStarFit.StarPair pair_k = new ThreeStarFit.StarPair(feature_k.X, feature_k.Y);
if (ijEntry.Star1.StarNo == iStarNo)
{
pair_i.RADeg = ijEntry.Star1.RADeg;
pair_i.DEDeg = ijEntry.Star1.DEDeg;
pair_i.Star = ijEntry.Star1;
pair_j.RADeg = ijEntry.Star2.RADeg;
pair_j.DEDeg = ijEntry.Star2.DEDeg;
pair_j.Star = ijEntry.Star2;
#if ASTROMETRY_DEBUG
Trace.Assert(ijEntry.Star1.StarNo == iStarNo);
Trace.Assert(ijEntry.Star2.StarNo == jStarNo);
#endif
RegisterRecognizedPair(feature_i, ijEntry.Star1, i);
RegisterRecognizedPair(feature_j, ijEntry.Star2, j);
}
else
{
pair_i.RADeg = ijEntry.Star2.RADeg;
pair_i.DEDeg = ijEntry.Star2.DEDeg;
pair_i.Star = ijEntry.Star2;
pair_j.RADeg = ijEntry.Star1.RADeg;
pair_j.DEDeg = ijEntry.Star1.DEDeg;
pair_j.Star = ijEntry.Star1;
#if ASTROMETRY_DEBUG
Trace.Assert(ijEntry.Star2.StarNo == iStarNo);
Trace.Assert(ijEntry.Star1.StarNo == jStarNo);
#endif
RegisterRecognizedPair(feature_i, ijEntry.Star2, i);
RegisterRecognizedPair(feature_j, ijEntry.Star1, j);
}
if (ikEntry.Star1.StarNo == kStarNo)
{
pair_k.RADeg = ikEntry.Star1.RADeg;
pair_k.DEDeg = ikEntry.Star1.DEDeg;
pair_k.Star = ikEntry.Star1;
#if ASTROMETRY_DEBUG
Trace.Assert(ikEntry.Star1.StarNo == kStarNo);
#endif
RegisterRecognizedPair(feature_k, ikEntry.Star1, k);
}
else
{
pair_k.RADeg = ikEntry.Star2.RADeg;
pair_k.DEDeg = ikEntry.Star2.DEDeg;
pair_k.Star = ikEntry.Star2;
#if ASTROMETRY_DEBUG
Trace.Assert(ikEntry.Star2.StarNo == kStarNo);
#endif
RegisterRecognizedPair(feature_k, ikEntry.Star2, k);
}
if (m_AmbiguousMatches.Count > 0 &&
locatedStars - m_AmbiguousMatches.Count >= CorePyramidConfig.Default.MinPyramidAlignedStars)
{
// If we have sufficient number of stars and ambiguous stars (close doubles that satisfy more than one solution)
// then remove all ambiguous stars before proceeding
foreach (ImagePixel matchedPixel in m_AmbiguousMatches)
{
IStar matchedStar = m_MatchedPairs[matchedPixel];
int featureToRemove = -1;
foreach (int featureId in m_MatchedFeatureIdToStarIdIndexes.Keys)
{
if (m_MatchedFeatureIdToStarIdIndexes[featureId] == matchedStar.StarNo)
{
featureToRemove = featureId;
break;
}
}
m_MatchedFeatureIdToStarIdIndexes.Remove(featureToRemove);
m_MatchedPairs.Remove(matchedPixel);
}
}
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Debug.WriteLine(string.Format("Attempting DistanceBasedContext.LeastSquareFittedAstrometry ({0}={1}; {2}={3}; {4}={5})", i, iStarNo, j, jStarNo, k, kStarNo));
return SolveStarPairs(
starMap, m_MatchedPairs, m_MatchedFeatureIdToStarIdIndexes, pair_i, pair_j, pair_k,
fittedFocalLength,
#if ASTROMETRY_DEBUG
pyramidLog
#else
null
#endif
);
}
else
{
#if PYRAMID_DEBUG || DEBUG
foreach(ImagePixel pixel in m_MatchedPairs.Keys)
{
IStar star = m_MatchedPairs[pixel];
foreach(int featureId in m_MatchedFeatureIdToStarIdIndexes.Keys)
{
if (m_MatchedFeatureIdToStarIdIndexes[featureId] == star.StarNo)
{
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
{
#if DEBUG
Debug
#endif
#if PYRAMID_DEBUG
Trace
#endif
.WriteLine(string.Format("({0}, {1}) - StarNo: {2}; FeatureId: {3}", pixel.X, pixel.Y, star.StarNo, featureId));
}
break;
}
}
}
#endif
#if ASTROMETRY_DEBUG
pyramidLog.FailBecauseOfTooFiewLocatedStars(locatedStars);
AstrometricFitDebugger.RegisterFailedPyramid(pyramidLog);
#endif
}
return null;
}