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);
}
