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|
/// \file BasicMathPlugin.cpp
/// \author Roger James
/// \date 13th November 2013
#include "BasicMathPlugin.h"
#include "DriverCommon.h"
#include "libastro.h"
#include <libnova/julian_day.h>
#include <gsl/gsl_blas.h>
#include <gsl/gsl_permutation.h>
#include <gsl/gsl_linalg.h>
#include "indicom.h"
#include <limits>
#include <iostream>
#include <map>
namespace INDI
{
namespace AlignmentSubsystem
{
BasicMathPlugin::BasicMathPlugin()
{
pActualToApparentTransform = gsl_matrix_alloc(3, 3);
pApparentToActualTransform = gsl_matrix_alloc(3, 3);
}
// Destructor
BasicMathPlugin::~BasicMathPlugin()
{
gsl_matrix_free(pActualToApparentTransform);
gsl_matrix_free(pApparentToActualTransform);
}
// Public methods
bool BasicMathPlugin::Initialise(InMemoryDatabase *pInMemoryDatabase)
{
MathPlugin::Initialise(pInMemoryDatabase);
InMemoryDatabase::AlignmentDatabaseType &SyncPoints = pInMemoryDatabase->GetAlignmentDatabase();
/// See how many entries there are in the in memory database.
/// - If just one use a hint to mounts approximate alignment, this can either be ZENITH,
/// NORTH_CELESTIAL_POLE or SOUTH_CELESTIAL_POLE. The hint is used to make a dummy second
/// entry. A dummy third entry is computed from the cross product of the first two. A transform
/// matrix is then computed.
/// - If two make the dummy third entry and compute a transform matrix.
/// - If three compute a transform matrix.
/// - If four or more compute a convex hull, then matrices for each
/// triangular facet of the hull.
switch (SyncPoints.size())
{
// JM 2021-07-04: No Transformation required.
case 0:
return true;
// JM 2021-07-04: For 1 point, it should be direct reciporical transformation.
case 1:
{
AlignmentDatabaseEntry &Entry1 = SyncPoints[0];
INDI::IEquatorialCoordinates RaDec;
INDI::IHorizontalCoordinates ActualSyncPoint1;
TelescopeDirectionVector ActualDirectionCosine1;
IGeographicCoordinates Position;
if (!pInMemoryDatabase->GetDatabaseReferencePosition(Position))
return false;
RaDec.declination = Entry1.Declination;
RaDec.rightascension = Entry1.RightAscension;
if (ApproximateMountAlignment == ZENITH)
{
EquatorialToHorizontal(&RaDec, &Position, Entry1.ObservationJulianDate, &ActualSyncPoint1);
// Now express this coordinate as a normalised direction vector (a.k.a direction cosines)
ActualDirectionCosine1 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint1);
}
else
{
ActualDirectionCosine1 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec);
}
TelescopeDirectionVector DummyActualDirectionCosine2;
TelescopeDirectionVector DummyApparentDirectionCosine2;
TelescopeDirectionVector DummyActualDirectionCosine3;
TelescopeDirectionVector DummyApparentDirectionCosine3;
switch (ApproximateMountAlignment)
{
case ZENITH:
DummyActualDirectionCosine2.x = 0.0;
DummyActualDirectionCosine2.y = 0.0;
DummyActualDirectionCosine2.z = 1.0;
DummyApparentDirectionCosine2 = DummyActualDirectionCosine2;
break;
case NORTH_CELESTIAL_POLE:
{
INDI::IEquatorialCoordinates DummyRaDec;
//INDI::IHorizontalCoordinates DummyAltAz;
DummyRaDec.rightascension = 0.0;
DummyRaDec.declination = 90.0;
//EquatorialToHorizontal(&DummyRaDec, &Position, ln_get_julian_from_sys(), &DummyAltAz);
DummyActualDirectionCosine2 = TelescopeDirectionVectorFromEquatorialCoordinates(DummyRaDec);
DummyApparentDirectionCosine2 = DummyActualDirectionCosine2;
break;
}
case SOUTH_CELESTIAL_POLE:
{
INDI::IEquatorialCoordinates DummyRaDec;
//INDI::IHorizontalCoordinates DummyAltAz;
DummyRaDec.rightascension = 0.0;
DummyRaDec.declination = -90.0;
//EquatorialToHorizontal(&DummyRaDec, &Position, ln_get_julian_from_sys(), &DummyAltAz);
DummyActualDirectionCosine2 = TelescopeDirectionVectorFromEquatorialCoordinates(DummyRaDec);
DummyApparentDirectionCosine2 = DummyActualDirectionCosine2;
break;
}
}
DummyActualDirectionCosine3 = ActualDirectionCosine1 * DummyActualDirectionCosine2;
DummyActualDirectionCosine3.Normalise();
DummyApparentDirectionCosine3 = Entry1.TelescopeDirection * DummyApparentDirectionCosine2;
DummyApparentDirectionCosine3.Normalise();
CalculateTransformMatrices(ActualDirectionCosine1, DummyActualDirectionCosine2, DummyActualDirectionCosine3,
Entry1.TelescopeDirection, DummyApparentDirectionCosine2,
DummyApparentDirectionCosine3, pActualToApparentTransform,
pApparentToActualTransform);
return true;
}
case 2:
{
// First compute local horizontal coordinates for the two sync points
AlignmentDatabaseEntry &Entry1 = SyncPoints[0];
AlignmentDatabaseEntry &Entry2 = SyncPoints[1];
INDI::IEquatorialCoordinates RaDec1;
INDI::IEquatorialCoordinates RaDec2;
TelescopeDirectionVector ActualDirectionCosine1;
TelescopeDirectionVector ActualDirectionCosine2;
RaDec1.declination = Entry1.Declination;
RaDec1.rightascension = Entry1.RightAscension;
RaDec2.declination = Entry2.Declination;
RaDec2.rightascension = Entry2.RightAscension;
IGeographicCoordinates Position { 0, 0, 0 };
if (!pInMemoryDatabase->GetDatabaseReferencePosition(Position))
return false;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualSyncPoint1;
INDI::IHorizontalCoordinates ActualSyncPoint2;
EquatorialToHorizontal(&RaDec1, &Position, Entry1.ObservationJulianDate, &ActualSyncPoint1);
EquatorialToHorizontal(&RaDec2, &Position, Entry2.ObservationJulianDate, &ActualSyncPoint2);
ActualDirectionCosine1 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint2);
}
else
{
ActualDirectionCosine1 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec2);
}
// Now express these coordinates as normalised direction vectors (a.k.a direction cosines)
TelescopeDirectionVector DummyActualDirectionCosine3;
TelescopeDirectionVector DummyApparentDirectionCosine3;
DummyActualDirectionCosine3 = ActualDirectionCosine1 * ActualDirectionCosine2;
DummyActualDirectionCosine3.Normalise();
DummyApparentDirectionCosine3 = Entry1.TelescopeDirection * Entry2.TelescopeDirection;
DummyApparentDirectionCosine3.Normalise();
// The third direction vectors is generated by taking the cross product of the first two
CalculateTransformMatrices(ActualDirectionCosine1, ActualDirectionCosine2, DummyActualDirectionCosine3,
Entry1.TelescopeDirection, Entry2.TelescopeDirection,
DummyApparentDirectionCosine3, pActualToApparentTransform,
pApparentToActualTransform);
return true;
}
case 3:
{
// First compute local horizontal coordinates for the three sync points
AlignmentDatabaseEntry &Entry1 = SyncPoints[0];
AlignmentDatabaseEntry &Entry2 = SyncPoints[1];
AlignmentDatabaseEntry &Entry3 = SyncPoints[2];
INDI::IEquatorialCoordinates RaDec1, RaDec2, RaDec3;
TelescopeDirectionVector ActualDirectionCosine1, ActualDirectionCosine2, ActualDirectionCosine3;
RaDec1.declination = Entry1.Declination;
RaDec1.rightascension = Entry1.RightAscension;
RaDec2.declination = Entry2.Declination;
RaDec2.rightascension = Entry2.RightAscension;
RaDec3.declination = Entry3.Declination;
RaDec3.rightascension = Entry3.RightAscension;
IGeographicCoordinates Position { 0, 0, 0 };
if (!pInMemoryDatabase->GetDatabaseReferencePosition(Position))
return false;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualSyncPoint1;
INDI::IHorizontalCoordinates ActualSyncPoint2;
INDI::IHorizontalCoordinates ActualSyncPoint3;
EquatorialToHorizontal(&RaDec1, &Position, Entry1.ObservationJulianDate, &ActualSyncPoint1);
EquatorialToHorizontal(&RaDec2, &Position, Entry2.ObservationJulianDate, &ActualSyncPoint2);
EquatorialToHorizontal(&RaDec3, &Position, Entry3.ObservationJulianDate, &ActualSyncPoint3);
// Now express these coordinates as normalised direction vectors (a.k.a direction cosines)
ActualDirectionCosine1 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint2);
ActualDirectionCosine3 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint3);
}
else
{
ActualDirectionCosine1 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec2);
ActualDirectionCosine3 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec3);
}
CalculateTransformMatrices(ActualDirectionCosine1, ActualDirectionCosine2, ActualDirectionCosine3,
Entry1.TelescopeDirection, Entry2.TelescopeDirection, Entry3.TelescopeDirection,
pActualToApparentTransform, pApparentToActualTransform);
return true;
}
default:
{
IGeographicCoordinates Position { 0, 0, 0 };
if (!pInMemoryDatabase->GetDatabaseReferencePosition(Position))
return false;
// Compute Hulls etc.
ActualConvexHull.Reset();
ApparentConvexHull.Reset();
ActualDirectionCosines.clear();
// Add a dummy point at the nadir
ActualConvexHull.MakeNewVertex(0.0, 0.0, -1.0, 0);
ApparentConvexHull.MakeNewVertex(0.0, 0.0, -1.0, 0);
int VertexNumber = 1;
// Add the rest of the vertices
for (InMemoryDatabase::AlignmentDatabaseType::const_iterator Itr = SyncPoints.begin();
Itr != SyncPoints.end(); Itr++)
{
INDI::IEquatorialCoordinates RaDec;
TelescopeDirectionVector ActualDirectionCosine;
RaDec.declination = (*Itr).Declination;
RaDec.rightascension = (*Itr).RightAscension;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualSyncPoint;
EquatorialToHorizontal(&RaDec, &Position, (*Itr).ObservationJulianDate, &ActualSyncPoint);
// Now express this coordinate as normalised direction vectors (a.k.a direction cosines)
ActualDirectionCosine = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint);
}
else
{
ActualDirectionCosine = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec);
}
ActualDirectionCosines.push_back(ActualDirectionCosine);
ActualConvexHull.MakeNewVertex(ActualDirectionCosine.x, ActualDirectionCosine.y,
ActualDirectionCosine.z, VertexNumber);
ApparentConvexHull.MakeNewVertex((*Itr).TelescopeDirection.x, (*Itr).TelescopeDirection.y,
(*Itr).TelescopeDirection.z, VertexNumber);
VertexNumber++;
}
// I should only need to do this once but it is easier to do it twice
if (!ActualConvexHull.DoubleTriangle())
return false;
ActualConvexHull.ConstructHull();
ActualConvexHull.EdgeOrderOnFaces();
if (!ApparentConvexHull.DoubleTriangle())
return false;
ApparentConvexHull.ConstructHull();
ApparentConvexHull.EdgeOrderOnFaces();
// Make the matrices
ConvexHull::tFace CurrentFace = ActualConvexHull.faces;
#ifdef CONVEX_HULL_DEBUGGING
int ActualFaces = 0;
#endif
if (nullptr != CurrentFace)
{
do
{
#ifdef CONVEX_HULL_DEBUGGING
ActualFaces++;
#endif
if ((0 == CurrentFace->vertex[0]->vnum) || (0 == CurrentFace->vertex[1]->vnum) ||
(0 == CurrentFace->vertex[2]->vnum))
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Initialise - Ignoring actual face %d", ActualFaces);
#endif
}
else
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Initialise - Processing actual face %d v1 %d v2 %d v3 %d", ActualFaces,
CurrentFace->vertex[0]->vnum, CurrentFace->vertex[1]->vnum,
CurrentFace->vertex[2]->vnum);
#endif
CalculateTransformMatrices(ActualDirectionCosines[CurrentFace->vertex[0]->vnum - 1],
ActualDirectionCosines[CurrentFace->vertex[1]->vnum - 1],
ActualDirectionCosines[CurrentFace->vertex[2]->vnum - 1],
SyncPoints[CurrentFace->vertex[0]->vnum - 1].TelescopeDirection,
SyncPoints[CurrentFace->vertex[1]->vnum - 1].TelescopeDirection,
SyncPoints[CurrentFace->vertex[2]->vnum - 1].TelescopeDirection,
CurrentFace->pMatrix, nullptr);
}
CurrentFace = CurrentFace->next;
}
while (CurrentFace != ActualConvexHull.faces);
}
// One of these days I will optimise this
CurrentFace = ApparentConvexHull.faces;
#ifdef CONVEX_HULL_DEBUGGING
int ApparentFaces = 0;
#endif
if (nullptr != CurrentFace)
{
do
{
#ifdef CONVEX_HULL_DEBUGGING
ApparentFaces++;
#endif
if ((0 == CurrentFace->vertex[0]->vnum) || (0 == CurrentFace->vertex[1]->vnum) ||
(0 == CurrentFace->vertex[2]->vnum))
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Initialise - Ignoring apparent face %d", ApparentFaces);
#endif
}
else
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Initialise - Processing apparent face %d v1 %d v2 %d v3 %d", ApparentFaces,
CurrentFace->vertex[0]->vnum, CurrentFace->vertex[1]->vnum,
CurrentFace->vertex[2]->vnum);
#endif
CalculateTransformMatrices(SyncPoints[CurrentFace->vertex[0]->vnum - 1].TelescopeDirection,
SyncPoints[CurrentFace->vertex[1]->vnum - 1].TelescopeDirection,
SyncPoints[CurrentFace->vertex[2]->vnum - 1].TelescopeDirection,
ActualDirectionCosines[CurrentFace->vertex[0]->vnum - 1],
ActualDirectionCosines[CurrentFace->vertex[1]->vnum - 1],
ActualDirectionCosines[CurrentFace->vertex[2]->vnum - 1],
CurrentFace->pMatrix, nullptr);
}
CurrentFace = CurrentFace->next;
}
while (CurrentFace != ApparentConvexHull.faces);
}
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Initialise - ActualFaces %d ApparentFaces %d", ActualFaces, ApparentFaces);
ActualConvexHull.PrintObj("ActualHull.obj");
ActualConvexHull.PrintOut("ActualHull.log", ActualConvexHull.vertices);
ApparentConvexHull.PrintObj("ApparentHull.obj");
ActualConvexHull.PrintOut("ApparentHull.log", ApparentConvexHull.vertices);
#endif
return true;
}
}
}
bool BasicMathPlugin::TransformCelestialToTelescope(const double RightAscension, const double Declination,
double JulianOffset,
TelescopeDirectionVector &ApparentTelescopeDirectionVector)
{
INDI::IEquatorialCoordinates ActualRaDec;
ActualRaDec.rightascension = RightAscension;
ActualRaDec.declination = Declination;
IGeographicCoordinates Position { 0, 0, 0 };
// Should check that this the same as the current observing position
if ((nullptr == pInMemoryDatabase) || !pInMemoryDatabase->GetDatabaseReferencePosition(Position))
return false;
InMemoryDatabase::AlignmentDatabaseType &SyncPoints = pInMemoryDatabase->GetAlignmentDatabase();
switch (SyncPoints.size())
{
case 0:
{
// 0 sync points
switch (ApproximateMountAlignment)
{
case ZENITH:
INDI::IHorizontalCoordinates ActualAltAz;
EquatorialToHorizontal(&ActualRaDec, &Position, ln_get_julian_from_sys() + JulianOffset, &ActualAltAz);
ApparentTelescopeDirectionVector = TelescopeDirectionVectorFromAltitudeAzimuth(ActualAltAz);
ASSDEBUGF("Celestial to telescope - Actual Az %lf Alt %lf", ActualAltAz.azimuth, ActualAltAz.altitude);
break;
case NORTH_CELESTIAL_POLE:
// Rotate the TDV coordinate system clockwise (negative) around the y axis by 90 minus
// the (positive)observatory latitude. The vector itself is rotated anticlockwise
//ApparentTelescopeDirectionVector.RotateAroundY(Position.latitude - 90.0);
case SOUTH_CELESTIAL_POLE:
// Rotate the TDV coordinate system anticlockwise (positive) around the y axis by 90 plus
// the (negative)observatory latitude. The vector itself is rotated clockwise
//ApparentTelescopeDirectionVector.RotateAroundY(Position.latitude + 90.0);
ApparentTelescopeDirectionVector = TelescopeDirectionVectorFromEquatorialCoordinates(ActualRaDec);
break;
}
break;
}
case 1:
case 2:
case 3:
{
TelescopeDirectionVector ActualVector;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualAltAz;
EquatorialToHorizontal(&ActualRaDec, &Position, ln_get_julian_from_sys() + JulianOffset, &ActualAltAz);
ActualVector = TelescopeDirectionVectorFromAltitudeAzimuth(ActualAltAz);
}
else
{
ActualVector = TelescopeDirectionVectorFromEquatorialCoordinates(ActualRaDec);
}
gsl_vector *pGSLActualVector = gsl_vector_alloc(3);
gsl_vector_set(pGSLActualVector, 0, ActualVector.x);
gsl_vector_set(pGSLActualVector, 1, ActualVector.y);
gsl_vector_set(pGSLActualVector, 2, ActualVector.z);
gsl_vector *pGSLApparentVector = gsl_vector_alloc(3);
MatrixVectorMultiply(pActualToApparentTransform, pGSLActualVector, pGSLApparentVector);
ApparentTelescopeDirectionVector.x = gsl_vector_get(pGSLApparentVector, 0);
ApparentTelescopeDirectionVector.y = gsl_vector_get(pGSLApparentVector, 1);
ApparentTelescopeDirectionVector.z = gsl_vector_get(pGSLApparentVector, 2);
ApparentTelescopeDirectionVector.Normalise();
gsl_vector_free(pGSLActualVector);
gsl_vector_free(pGSLApparentVector);
break;
}
default:
{
TelescopeDirectionVector ActualVector;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualAltAz;
EquatorialToHorizontal(&ActualRaDec, &Position, ln_get_julian_from_sys() + JulianOffset, &ActualAltAz);
ActualVector = TelescopeDirectionVectorFromAltitudeAzimuth(ActualAltAz);
}
else
{
ActualVector = TelescopeDirectionVectorFromEquatorialCoordinates(ActualRaDec);
}
gsl_matrix *pTransform;
gsl_matrix *pComputedTransform = nullptr;
// Scale the actual telescope direction vector to make sure it traverses the unit sphere.
TelescopeDirectionVector ScaledActualVector = ActualVector * 2.0;
// Shoot the scaled vector in the into the list of actual facets
// and use the conversuion matrix from the one it intersects
ConvexHull::tFace CurrentFace = ActualConvexHull.faces;
#ifdef CONVEX_HULL_DEBUGGING
int ActualFaces = 0;
#endif
if (nullptr != CurrentFace)
{
do
{
#ifdef CONVEX_HULL_DEBUGGING
ActualFaces++;
#endif
// Ignore faces containing vertex 0 (nadir).
if ((0 == CurrentFace->vertex[0]->vnum) || (0 == CurrentFace->vertex[1]->vnum) ||
(0 == CurrentFace->vertex[2]->vnum))
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Celestial to telescope - Ignoring actual face %d", ActualFaces);
#endif
}
else
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Celestial to telescope - Processing actual face %d v1 %d v2 %d v3 %d", ActualFaces,
CurrentFace->vertex[0]->vnum, CurrentFace->vertex[1]->vnum,
CurrentFace->vertex[2]->vnum);
#endif
if (RayTriangleIntersection(ScaledActualVector,
ActualDirectionCosines[CurrentFace->vertex[0]->vnum - 1],
ActualDirectionCosines[CurrentFace->vertex[1]->vnum - 1],
ActualDirectionCosines[CurrentFace->vertex[2]->vnum - 1]))
break;
}
CurrentFace = CurrentFace->next;
}
while (CurrentFace != ActualConvexHull.faces);
if (CurrentFace == ActualConvexHull.faces)
{
// Find the three nearest points and build a transform
std::map<double, const AlignmentDatabaseEntry *> NearestMap;
for (InMemoryDatabase::AlignmentDatabaseType::const_iterator Itr = SyncPoints.begin();
Itr != SyncPoints.end(); Itr++)
{
INDI::IEquatorialCoordinates RaDec;
TelescopeDirectionVector ActualDirectionCosine;
RaDec.rightascension = (*Itr).RightAscension;
RaDec.declination = (*Itr).Declination;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualPoint;
EquatorialToHorizontal(&RaDec, &Position, (*Itr).ObservationJulianDate, &ActualPoint);
ActualDirectionCosine = TelescopeDirectionVectorFromAltitudeAzimuth(ActualPoint);
}
else
{
ActualDirectionCosine = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec);
}
NearestMap[(ActualDirectionCosine - ActualVector).Length()] = &(*Itr);
}
// First compute local horizontal coordinates for the three sync points
std::map<double, const AlignmentDatabaseEntry *>::const_iterator Nearest = NearestMap.begin();
const AlignmentDatabaseEntry *pEntry1 = (*Nearest).second;
Nearest++;
const AlignmentDatabaseEntry *pEntry2 = (*Nearest).second;
Nearest++;
const AlignmentDatabaseEntry *pEntry3 = (*Nearest).second;
INDI::IEquatorialCoordinates RaDec1;
INDI::IEquatorialCoordinates RaDec2;
INDI::IEquatorialCoordinates RaDec3;
TelescopeDirectionVector ActualDirectionCosine1;
TelescopeDirectionVector ActualDirectionCosine2;
TelescopeDirectionVector ActualDirectionCosine3;
RaDec1.declination = pEntry1->Declination;
RaDec1.rightascension = pEntry1->RightAscension;
RaDec2.declination = pEntry2->Declination;
RaDec2.rightascension = pEntry2->RightAscension;
RaDec3.declination = pEntry3->Declination;
RaDec3.rightascension = pEntry3->RightAscension;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualSyncPoint1;
INDI::IHorizontalCoordinates ActualSyncPoint2;
INDI::IHorizontalCoordinates ActualSyncPoint3;
EquatorialToHorizontal(&RaDec1, &Position, pEntry1->ObservationJulianDate, &ActualSyncPoint1);
EquatorialToHorizontal(&RaDec2, &Position, pEntry2->ObservationJulianDate, &ActualSyncPoint2);
EquatorialToHorizontal(&RaDec3, &Position, pEntry3->ObservationJulianDate, &ActualSyncPoint3);
// Now express these coordinates as normalised direction vectors (a.k.a direction cosines)
ActualDirectionCosine1 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint2);
ActualDirectionCosine3 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint3);
}
else
{
ActualDirectionCosine1 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec2);
ActualDirectionCosine3 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec3);
}
pComputedTransform = gsl_matrix_alloc(3, 3);
CalculateTransformMatrices(ActualDirectionCosine1, ActualDirectionCosine2, ActualDirectionCosine3,
pEntry1->TelescopeDirection, pEntry2->TelescopeDirection,
pEntry3->TelescopeDirection, pComputedTransform, nullptr);
pTransform = pComputedTransform;
}
else
pTransform = CurrentFace->pMatrix;
}
else
return false;
// OK - got an intersection - CurrentFace is pointing at the face
gsl_vector *pGSLActualVector = gsl_vector_alloc(3);
gsl_vector_set(pGSLActualVector, 0, ActualVector.x);
gsl_vector_set(pGSLActualVector, 1, ActualVector.y);
gsl_vector_set(pGSLActualVector, 2, ActualVector.z);
gsl_vector *pGSLApparentVector = gsl_vector_alloc(3);
MatrixVectorMultiply(pTransform, pGSLActualVector, pGSLApparentVector);
ApparentTelescopeDirectionVector.x = gsl_vector_get(pGSLApparentVector, 0);
ApparentTelescopeDirectionVector.y = gsl_vector_get(pGSLApparentVector, 1);
ApparentTelescopeDirectionVector.z = gsl_vector_get(pGSLApparentVector, 2);
ApparentTelescopeDirectionVector.Normalise();
gsl_vector_free(pGSLActualVector);
gsl_vector_free(pGSLApparentVector);
if (nullptr != pComputedTransform)
gsl_matrix_free(pComputedTransform);
break;
}
}
// INDI::IHorizontalCoordinates ApparentAltAz;
// AltitudeAzimuthFromTelescopeDirectionVector(ApparentTelescopeDirectionVector, ApparentAltAz);
// ASSDEBUGF("Celestial to telescope - Apparent Az %lf Alt %lf", ApparentAltAz.azimuth, ApparentAltAz.altitude);
return true;
}
bool BasicMathPlugin::TransformTelescopeToCelestial(const TelescopeDirectionVector &ApparentTelescopeDirectionVector,
double &RightAscension, double &Declination)
{
IGeographicCoordinates Position;
//INDI::IHorizontalCoordinates ApparentAltAz;
INDI::IHorizontalCoordinates ActualAltAz;
INDI::IEquatorialCoordinates ActualRaDec;
// AltitudeAzimuthFromTelescopeDirectionVector(ApparentTelescopeDirectionVector, ApparentAltAz);
// ASSDEBUGF("Telescope to celestial - Apparent Az %lf Alt %lf", ApparentAltAz.azimuth, ApparentAltAz.altitude);
if ((nullptr == pInMemoryDatabase) || !pInMemoryDatabase->GetDatabaseReferencePosition(Position))
{
// Should check that this the same as the current observing position
ASSDEBUG("No database or no position in database");
return false;
}
InMemoryDatabase::AlignmentDatabaseType &SyncPoints = pInMemoryDatabase->GetAlignmentDatabase();
switch (SyncPoints.size())
{
case 0:
{
// 0 sync points
switch (ApproximateMountAlignment)
{
// For Alt-Az mounts, get Alt-Az from the telescope direction vector first
// Then transform to actual RA/DE
case ZENITH:
{
ASSDEBUGF("ApparentVector x %lf y %lf z %lf", ApparentTelescopeDirectionVector.x,
ApparentTelescopeDirectionVector.y, ApparentTelescopeDirectionVector.z);
//ASSDEBUGF("ActualVector x %lf y %lf z %lf", RotatedTDV.x, RotatedTDV.y, RotatedTDV.z);
AltitudeAzimuthFromTelescopeDirectionVector(ApparentTelescopeDirectionVector, ActualAltAz);
HorizontalToEquatorial(&ActualAltAz, &Position, ln_get_julian_from_sys(), &ActualRaDec);
}
break;
// For equatorial mount with zero sync points, just convert back from telescope
// direction vector to equatorial coordinates.
case NORTH_CELESTIAL_POLE:
case SOUTH_CELESTIAL_POLE:
EquatorialCoordinatesFromTelescopeDirectionVector(ApparentTelescopeDirectionVector, ActualRaDec);
break;
}
RightAscension = ActualRaDec.rightascension;
Declination = ActualRaDec.declination;
break;
}
case 1:
case 2:
case 3:
{
gsl_vector *pGSLApparentVector = gsl_vector_alloc(3);
gsl_vector_set(pGSLApparentVector, 0, ApparentTelescopeDirectionVector.x);
gsl_vector_set(pGSLApparentVector, 1, ApparentTelescopeDirectionVector.y);
gsl_vector_set(pGSLApparentVector, 2, ApparentTelescopeDirectionVector.z);
gsl_vector *pGSLActualVector = gsl_vector_alloc(3);
MatrixVectorMultiply(pApparentToActualTransform, pGSLApparentVector, pGSLActualVector);
Dump3("ApparentVector", pGSLApparentVector);
Dump3("ActualVector", pGSLActualVector);
TelescopeDirectionVector ActualTelescopeDirectionVector;
ActualTelescopeDirectionVector.x = gsl_vector_get(pGSLActualVector, 0);
ActualTelescopeDirectionVector.y = gsl_vector_get(pGSLActualVector, 1);
ActualTelescopeDirectionVector.z = gsl_vector_get(pGSLActualVector, 2);
ActualTelescopeDirectionVector.Normalise();
if (ApproximateMountAlignment == ZENITH)
{
AltitudeAzimuthFromTelescopeDirectionVector(ActualTelescopeDirectionVector, ActualAltAz);
HorizontalToEquatorial(&ActualAltAz, &Position, ln_get_julian_from_sys(), &ActualRaDec);
}
else
{
EquatorialCoordinatesFromTelescopeDirectionVector(ActualTelescopeDirectionVector, ActualRaDec);
}
RightAscension = ActualRaDec.rightascension;
Declination = ActualRaDec.declination;
gsl_vector_free(pGSLActualVector);
gsl_vector_free(pGSLApparentVector);
break;
}
default:
{
gsl_matrix *pTransform;
gsl_matrix *pComputedTransform = nullptr;
// Scale the apparent telescope direction vector to make sure it traverses the unit sphere.
TelescopeDirectionVector ScaledApparentVector = ApparentTelescopeDirectionVector * 2.0;
// Shoot the scaled vector in the into the list of apparent facets
// and use the conversuion matrix from the one it intersects
ConvexHull::tFace CurrentFace = ApparentConvexHull.faces;
#ifdef CONVEX_HULL_DEBUGGING
int ApparentFaces = 0;
#endif
if (nullptr != CurrentFace)
{
do
{
#ifdef CONVEX_HULL_DEBUGGING
ApparentFaces++;
#endif
// Ignore faces containing vertex 0 (nadir).
if ((0 == CurrentFace->vertex[0]->vnum) || (0 == CurrentFace->vertex[1]->vnum) ||
(0 == CurrentFace->vertex[2]->vnum))
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("Celestial to telescope - Ignoring apparent face %d", ApparentFaces);
#endif
}
else
{
#ifdef CONVEX_HULL_DEBUGGING
ASSDEBUGF("TelescopeToCelestial - Processing apparent face %d v1 %d v2 %d v3 %d", ApparentFaces,
CurrentFace->vertex[0]->vnum, CurrentFace->vertex[1]->vnum,
CurrentFace->vertex[2]->vnum);
#endif
if (RayTriangleIntersection(ScaledApparentVector,
SyncPoints[CurrentFace->vertex[0]->vnum - 1].TelescopeDirection,
SyncPoints[CurrentFace->vertex[1]->vnum - 1].TelescopeDirection,
SyncPoints[CurrentFace->vertex[2]->vnum - 1].TelescopeDirection))
break;
}
CurrentFace = CurrentFace->next;
}
while (CurrentFace != ApparentConvexHull.faces);
if (CurrentFace == ApparentConvexHull.faces)
{
// Find the three nearest points and build a transform
std::map<double, const AlignmentDatabaseEntry *> NearestMap;
for (InMemoryDatabase::AlignmentDatabaseType::const_iterator Itr = SyncPoints.begin();
Itr != SyncPoints.end(); Itr++)
{
NearestMap[((*Itr).TelescopeDirection - ApparentTelescopeDirectionVector).Length()] = &(*Itr);
}
// First compute local horizontal coordinates for the three sync points
std::map<double, const AlignmentDatabaseEntry *>::const_iterator Nearest = NearestMap.begin();
const AlignmentDatabaseEntry *pEntry1 = (*Nearest).second;
Nearest++;
const AlignmentDatabaseEntry *pEntry2 = (*Nearest).second;
Nearest++;
const AlignmentDatabaseEntry *pEntry3 = (*Nearest).second;
INDI::IEquatorialCoordinates RaDec1;
INDI::IEquatorialCoordinates RaDec2;
INDI::IEquatorialCoordinates RaDec3;
TelescopeDirectionVector ActualDirectionCosine1;
TelescopeDirectionVector ActualDirectionCosine2;
TelescopeDirectionVector ActualDirectionCosine3;
RaDec1.declination = pEntry1->Declination;
RaDec1.rightascension = pEntry1->RightAscension;
RaDec2.declination = pEntry2->Declination;
RaDec2.rightascension = pEntry2->RightAscension;
RaDec3.declination = pEntry3->Declination;
RaDec3.rightascension = pEntry3->RightAscension;
if (ApproximateMountAlignment == ZENITH)
{
INDI::IHorizontalCoordinates ActualSyncPoint1;
INDI::IHorizontalCoordinates ActualSyncPoint2;
INDI::IHorizontalCoordinates ActualSyncPoint3;
EquatorialToHorizontal(&RaDec1, &Position, pEntry1->ObservationJulianDate, &ActualSyncPoint1);
EquatorialToHorizontal(&RaDec2, &Position, pEntry2->ObservationJulianDate, &ActualSyncPoint2);
EquatorialToHorizontal(&RaDec3, &Position, pEntry3->ObservationJulianDate, &ActualSyncPoint3);
// Now express these coordinates as normalised direction vectors (a.k.a direction cosines)
ActualDirectionCosine1 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint2);
ActualDirectionCosine3 = TelescopeDirectionVectorFromAltitudeAzimuth(ActualSyncPoint3);
}
else
{
ActualDirectionCosine1 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec1);
ActualDirectionCosine2 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec2);
ActualDirectionCosine3 = TelescopeDirectionVectorFromEquatorialCoordinates(RaDec3);
}
pComputedTransform = gsl_matrix_alloc(3, 3);
CalculateTransformMatrices(pEntry1->TelescopeDirection, pEntry2->TelescopeDirection,
pEntry3->TelescopeDirection, ActualDirectionCosine1,
ActualDirectionCosine2, ActualDirectionCosine3, pComputedTransform,
nullptr);
pTransform = pComputedTransform;
}
else
pTransform = CurrentFace->pMatrix;
}
else
return false;
// OK - got an intersection - CurrentFace is pointing at the face
gsl_vector *pGSLApparentVector = gsl_vector_alloc(3);
gsl_vector_set(pGSLApparentVector, 0, ApparentTelescopeDirectionVector.x);
gsl_vector_set(pGSLApparentVector, 1, ApparentTelescopeDirectionVector.y);
gsl_vector_set(pGSLApparentVector, 2, ApparentTelescopeDirectionVector.z);
gsl_vector *pGSLActualVector = gsl_vector_alloc(3);
MatrixVectorMultiply(pTransform, pGSLApparentVector, pGSLActualVector);
TelescopeDirectionVector ActualTelescopeDirectionVector;
ActualTelescopeDirectionVector.x = gsl_vector_get(pGSLActualVector, 0);
ActualTelescopeDirectionVector.y = gsl_vector_get(pGSLActualVector, 1);
ActualTelescopeDirectionVector.z = gsl_vector_get(pGSLActualVector, 2);
ActualTelescopeDirectionVector.Normalise();
if (ApproximateMountAlignment == ZENITH)
{
AltitudeAzimuthFromTelescopeDirectionVector(ActualTelescopeDirectionVector, ActualAltAz);
HorizontalToEquatorial(&ActualAltAz, &Position, ln_get_julian_from_sys(), &ActualRaDec);
}
else
{
EquatorialCoordinatesFromTelescopeDirectionVector(ActualTelescopeDirectionVector, ActualRaDec);
}
// libnova works in decimal degrees so conversion is needed here
RightAscension = ActualRaDec.rightascension;
Declination = ActualRaDec.declination;
gsl_vector_free(pGSLActualVector);
gsl_vector_free(pGSLApparentVector);
if (nullptr != pComputedTransform)
gsl_matrix_free(pComputedTransform);
break;
}
}
//ASSDEBUGF("Telescope to Celestial - Actual Az %lf Alt %lf", ActualAltAz.azimuth, ActualAltAz.altitude);
return true;
}
// Private methods
void BasicMathPlugin::Dump3(const char *Label, gsl_vector *pVector)
{
ASSDEBUGF("Vector dump - %s", Label);
ASSDEBUGF("%lf %lf %lf", gsl_vector_get(pVector, 0), gsl_vector_get(pVector, 1), gsl_vector_get(pVector, 2));
}
void BasicMathPlugin::Dump3x3(const char *Label, gsl_matrix *pMatrix)
{
ASSDEBUGF("Matrix dump - %s", Label);
ASSDEBUGF("Row 0 %lf %lf %lf", gsl_matrix_get(pMatrix, 0, 0), gsl_matrix_get(pMatrix, 0, 1),
gsl_matrix_get(pMatrix, 0, 2));
ASSDEBUGF("Row 1 %lf %lf %lf", gsl_matrix_get(pMatrix, 1, 0), gsl_matrix_get(pMatrix, 1, 1),
gsl_matrix_get(pMatrix, 1, 2));
ASSDEBUGF("Row 2 %lf %lf %lf", gsl_matrix_get(pMatrix, 2, 0), gsl_matrix_get(pMatrix, 2, 1),
gsl_matrix_get(pMatrix, 2, 2));
}
/// Use gsl to compute the determinant of a 3x3 matrix
double BasicMathPlugin::Matrix3x3Determinant(gsl_matrix *pMatrix)
{
gsl_permutation *pPermutation = gsl_permutation_alloc(3);
gsl_matrix *pDecomp = gsl_matrix_alloc(3, 3);
int Signum;
double Determinant;
gsl_matrix_memcpy(pDecomp, pMatrix);
gsl_linalg_LU_decomp(pDecomp, pPermutation, &Signum);
Determinant = gsl_linalg_LU_det(pDecomp, Signum);
gsl_matrix_free(pDecomp);
gsl_permutation_free(pPermutation);
return Determinant;
}
/// Use gsl to compute the inverse of a 3x3 matrix
bool BasicMathPlugin::MatrixInvert3x3(gsl_matrix *pInput, gsl_matrix *pInversion)
{
bool Retcode = true;
gsl_permutation *pPermutation = gsl_permutation_alloc(3);
gsl_matrix *pDecomp = gsl_matrix_alloc(3, 3);
int Signum;
gsl_matrix_memcpy(pDecomp, pInput);
gsl_linalg_LU_decomp(pDecomp, pPermutation, &Signum);
// Test for singularity
if (0 == gsl_linalg_LU_det(pDecomp, Signum))
{
Retcode = false;
}
else
gsl_linalg_LU_invert(pDecomp, pPermutation, pInversion);
gsl_matrix_free(pDecomp);
gsl_permutation_free(pPermutation);
return Retcode;
}
/// Use gsl blas support to multiply two matrices together and put the result in a third.
/// For our purposes all the matrices should be 3 by 3.
void BasicMathPlugin::MatrixMatrixMultiply(gsl_matrix *pA, gsl_matrix *pB, gsl_matrix *pC)
{
// Zeroise the output matrix
gsl_matrix_set_zero(pC);
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, pA, pB, 0.0, pC);
}
/// Use gsl blas support to multiply a matrix by a vector and put the result in another vector
/// For our purposes the the matrix should be 3x3 and vector 3.
void BasicMathPlugin::MatrixVectorMultiply(gsl_matrix *pA, gsl_vector *pB, gsl_vector *pC)
{
// Zeroise the output vector
gsl_vector_set_zero(pC);
gsl_blas_dgemv(CblasNoTrans, 1.0, pA, pB, 0.0, pC);
}
bool BasicMathPlugin::RayTriangleIntersection(TelescopeDirectionVector &Ray, TelescopeDirectionVector &TriangleVertex1,
TelescopeDirectionVector &TriangleVertex2,
TelescopeDirectionVector &TriangleVertex3)
{
// Use Möller-Trumbore
//Find vectors for two edges sharing V1
TelescopeDirectionVector Edge1 = TriangleVertex2 - TriangleVertex1;
TelescopeDirectionVector Edge2 = TriangleVertex3 - TriangleVertex1;
TelescopeDirectionVector P = Ray * Edge2; // cross product
double Determinant = Edge1 ^ P; // dot product
double InverseDeterminant = 1.0 / Determinant;
// If the determinant is negative the triangle is backfacing
// If the determinant is close to 0, the ray misses the triangle
if ((Determinant > -std::numeric_limits<double>::epsilon()) &&
(Determinant < std::numeric_limits<double>::epsilon()))
return false;
// I use zero as ray origin so
TelescopeDirectionVector T(-TriangleVertex1.x, -TriangleVertex1.y, -TriangleVertex1.z);
// Calculate the u parameter
double u = (T ^ P) * InverseDeterminant;
if (u < 0.0 || u > 1.0)
//The intersection lies outside of the triangle
return false;
//Prepare to test v parameter
TelescopeDirectionVector Q = T * Edge1;
//Calculate v parameter and test bound
double v = (Ray ^ Q) * InverseDeterminant;
if (v < 0.0 || u + v > 1.0)
//The intersection lies outside of the triangle
return false;
double t = (Edge2 ^ Q) * InverseDeterminant;
if (t > std::numeric_limits<double>::epsilon())
{
//ray intersection
return true;
}
// No hit, no win
return false;
}
} // namespace AlignmentSubsystem
} // namespace INDI
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