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; }