triangle side updaters

libstarid/triangles/nomad_triangle.cpp

@@ -26,23 +26,23 @@ void StartriangleNOMAD::from_parent(Startriangleside2& side2_, int starb_, int s
 
 void StartriangleNOMAD::chk1() {
     cands ok1, ok2, ok3;
-    for (auto & a1 : side1.stars) {
+    for (auto& a1 : side1.stars) {
         if (!side3.stars.contains(a1.first)) continue;
-        for (auto & b1 : a1.second) {
+        for (auto& b1 : a1.second) {
             if (!side2.stars.contains(b1)) continue;
-            for (auto & c2 : side2.stars[b1]) {
+            for (auto& c2 : side2.stars[b1]) {
                 if (!side3.stars[a1.first].contains(c2)) continue;
                 ok1.insert(a1.first); ok1.insert(b1); ok2.insert(b1); ok2.insert(c2); ok3.insert(c2); ok3.insert(a1.first);}}}
     side1.update_side(ok1); side2.update_side(ok2); side3.update_side(ok3);}
 
 void StartriangleNOMAD::chk2(StartriangleNOMAD& other) {
     auto adside = Startriangleside2(sv1, other.sv3, starpairs, .00685);
     cands ok1, ok2, ok3, tmp;
-    for (auto & a1 : side1.stars) {
+    for (auto& a1 : side1.stars) {
         if (!side3.stars.contains(a1.first)) continue;
-        for (auto & b1 : a1.second) {
+        for (auto& b1 : a1.second) {
             if (!side2.stars.contains(b1)) continue;
-            for (auto & c2 : side2.stars[b1]) {
+            for (auto& c2 : side2.stars[b1]) {
                 if (!side3.stars[a1.first].contains(c2)) continue;
                 if (!adside.stars.contains(c2)) continue;
                 if (!adside.stars.contains(a1.first) || !other.side2.stars.contains(c2)) continue;
@@ -55,8 +55,8 @@ void StartriangleNOMAD::chk2(StartriangleNOMAD& other) {
 
 bool StartriangleNOMAD::stop() {
     cands c1, c3, tmp;
-    for (auto & a1 : side1.stars) c1.insert(a1.first);
-    for (auto & a3 : side3.stars) c3.insert(a3.first);
+    for (auto& a1 : side1.stars) c1.insert(a1.first);
+    for (auto& a3 : side3.stars) c3.insert(a3.first);
     std::set_intersection(c1.begin(), c1.end(), c3.begin(), c3.end(), std::inserter(tmp, tmp.begin()));
     acands = tmp;
     if (acands.size() > 1) return false;

libstarid/triangles/settler.cpp

@@ -1,83 +1,15 @@
 #include "settler.h"
 #include "../sky/geometry.h"
 
-SETTLER::SETTLER(Starpairs &starpairs) : starpairs(starpairs) {}
+SETTLER::SETTLER(Starpairs &starpairs) : starpairs(starpairs), sva{0., 0., 1.} {}
 
 int SETTLER::run(MatrixXd &pixels) {
     starvecs = pixels_to_starvecs(pixels);
-    for (ndxb = 1; ndxb < starvecs.rows(); ++ndxb) { // absides
-        uveca = starvecs.row(0);
-        uvecb = starvecs.row(ndxb);
-        int prev_stars = 0;
-        int repeatcnt = 0;
-        bool converged = false;
-        Startriangleside abside(std::acos(uveca.transpose() * uvecb), starpairs); // abside to investigate
-
-        for (ndxc = 1; ndxc < starvecs.rows(); ++ndxc) { // abca triangles
-            if (converged || !get_angs_c()) continue;
-            std::vector<StartriangleSETTLER> triangles;
-            StartriangleSETTLER abca(angs_c[0], angs_c[1], angs_c[2], starpairs, starvecs.row(ndxc).transpose());
-            abca.side1.stars = abside.stars;
-            abca.constrain_abca();
-            abside.update(abca.side1);
-            triangles.push_back(abca);
-
-            for (ndxd = 1; ndxd < starvecs.rows(); ++ndxd) { // abda triangles
-                if (converged || !get_angs_d()) continue;
-                StartriangleSETTLER abda(angs_d[0], angs_d[4], angs_d[3], starpairs, starvecs.row(ndxd).transpose());
-                abda.side1.stars = abside.stars;
-                abda.constrain_abda(triangles, starpairs);
-                abside.update(abda.side1);
-                triangles.push_back(abda);
-
-                if (prev_stars == abside.stars.size()) ++repeatcnt; else repeatcnt = 0;
-                if (repeatcnt > 3) converged = true;
-                prev_stars = abside.stars.size();
-                if (abside.stars.size() == 1) break;
-            } // abda stop
-            if (abside.stars.size() == 1) break;
-        } // abca stop
-        if (abside.stars.size() == 1) {
-            auto starsit = abside.stars.begin();
-            return starsit->first;
-        } // only one candidate abside star pair remains
-        absides.push_back(abside);
+    for (Vector3d svb : starvecs.rowwise()) {
+        Startriangleside2 abside(sva, svb, starpairs);
+        if (!acands.empty()) abside.update_acands(acands.back());
+        for (Vector3d svc : starvecs.rowwise()) {
+            if (svb == svc) continue;
     }
     return -1;
 }
-
-bool SETTLER::get_angs_d() {
-    if (ndxd == ndxb || ndxd == ndxc) return false;
-    bool angsok = true;
-    angs_d = angs_c;
-    uvecd = starvecs.row(ndxd);
-    angs_d.push_back(std::acos(uvecd.transpose() * uveca));
-    angs_d.push_back(std::acos(uvecd.transpose() * uvecb));
-    angs_d.push_back(std::acos(uvecd.transpose() * uvecc));
-    if (angs_d[3] < min_ang) angsok = false; // da
-    if (angs_d[4] < min_ang) angsok = false; // db
-    if (angs_d[5] < min_ang) angsok = false; // dc
-    if (std::abs(angs_d[4] - angs_d[3]) < min_ang) angsok = false; // db-da
-    //if (std::abs(angs_d[4]-angs_d[0]) < min_ang) angsok = false; // db-ab
-    //if (std::abs(angs_d[4]-angs_d[5]) < min_ang) angsok = false; // db-dc
-    return angsok;
-}
-
-bool SETTLER::get_angs_c() {
-    min_ang = 3000.0 * arcseconds_to_radians;
-    if (ndxc == ndxb) return false;
-    bool angsok = true;
-    angs_c.clear();
-    uvecc = starvecs.row(ndxc);
-    angs_c.push_back(std::acos(uveca.transpose() * uvecb));
-    angs_c.push_back(std::acos(uvecb.transpose() * uvecc));
-    angs_c.push_back(std::acos(uvecc.transpose() * uveca));
-    if (angs_c[0] < min_ang) angsok = false; // ab
-    if (angs_c[1] < min_ang) angsok = false; // bc
-    if (angs_c[2] < min_ang) angsok = false; // ca
-    if (std::abs(angs_c[0] - angs_c[1]) < min_ang) angsok = false; // ab-bc
-    if (std::abs(angs_c[0] - angs_c[2]) < min_ang) angsok = false; // ab-ca
-    if (std::abs(angs_c[1] - angs_c[2]) < min_ang) angsok = false; // bc-ca
-    return angsok;
-};
-

libstarid/triangles/settler.h

@@ -6,21 +6,18 @@
 #include "settler_triangle.h"
 using namespace starid;
 using namespace Eigen;
+using cands = std::set<int>;
 
 namespace starid {
     class SETTLER {
     public:
         explicit SETTLER(Starpairs &pairs);
         int run(MatrixXd &pixels);
     private:
-        bool get_angs_c();
-        bool get_angs_d();
         Starpairs starpairs;
         MatrixXd starvecs;
-        double min_ang;
-        std::vector<double> angs_c, angs_d;
-        Vector3d uveca, uvecb, uvecc, uvecd;
-        int ndxb, ndxc, ndxd;
+        Vector3d sva;
+        std::vector<std::set<int>> acands;
     };
 }
 

libstarid/triangles/star_triangle_side.cpp

@@ -61,6 +61,28 @@ void Startriangleside2::update_side(std::set<int>& ok) {
     log_star_count.push_back(stars.size());
     log_pair_count.push_back(countpairs());}
 
+void Startriangleside2::update_abside(Startriangleside2& side) {
+    starsdict2 tmp;
+    for (auto& star : side.stars) {
+        if (!stars.contains(star.first)) continue;
+        std::set<int> tmp2;
+        std::set_intersection(stars[star.first].begin(), stars[star.first].end(),
+                              star.second.begin(), star.second.end(), std::inserter(tmp2, tmp2.begin()));
+        if (tmp2.empty()) continue;
+        tmp[star.first] = tmp2;
+    }
+    stars = tmp;
+    log_star_count.push_back(stars.size());
+    log_pair_count.push_back(countpairs());}
+
+void Startriangleside2::update_acands(std::set<int>& acands) {
+    std::vector<int> drops;
+    for (auto star : stars) {
+        if (!acands.contains(star.first)) drops.push_back(star.first);}
+    for (auto star : drops) stars.erase(star);
+    log_star_count.push_back(stars.size());
+    log_pair_count.push_back(countpairs());}
+
 int Startriangleside2::countpairs() {
     int result = 0;
     for (auto & star : stars) result += star.second.size();

libstarid/triangles/star_triangle_side.h

@@ -32,6 +32,8 @@ namespace starid {
         Startriangleside2(Vector3d, Vector3d, Starpairs&, float angtol = .003);
         Startriangleside2();
         void update_side(std::set<int>&);
+        void update_abside(Startriangleside2&);
+        void update_acands(std::set<int>&);
         int countpairs();
         Vector3d sv1, sv2;
         double ang;

starid/triangles/settler.py

@@ -15,13 +15,14 @@ class SETTLER:
 
     def __init__(self, starpairs):
         self.starpairs = starpairs
+        self.acands = []
 
     def run(self, image):
         """recognize target star from the starvecs of image pixels."""
-        starvecs, acands = image.starvecs(), []
+        starvecs = image.starvecs()
         for b, svb in enumerate(starvecs):  # abside
             abside, bypass = Startriangleside(np.array([0., 0., 1.]), svb, self.starpairs), False
-            if acands: abside.update_acands(acands[-1])
+            if self.acands: abside.update_acands(self.acands[-1])
             for c, svc in enumerate(starvecs):  # abca triangle
                 if bypass or c == b: continue
                 tri = [StartriangleSETTLER(svb, svc, self.starpairs, abside)]
@@ -31,8 +32,8 @@ def run(self, image):
                     tri.append(StartriangleSETTLER(svb, svd, self.starpairs, abside))
                     tri[-1].chk2(tri[:-1])
                     if len(abside.starcnt) > 3 and len(set(abside.starcnt[-3:])) == 1: bypass = True
-            acands.append(set(abside.stars.keys()))
-            if not len(acands[-1]) > 1: break
-        result = acands[-1]
+            self.acands.append(set(abside.stars.keys()))
+            if not len(self.acands[-1]) > 1: break
+        result = self.acands[-1]
         return result
 

starid/triangles/star_triangle_side.py

@@ -42,17 +42,18 @@ def update_abside(self, side):
         new info."""
         tmp = dict()
         for acand in side.stars.keys():
-            if acand in self.stars: tmp[acand] = set.intersection(side.stars[acand], self.stars[acand])
+            if acand in self.stars:
+                tmp2 = set.intersection(side.stars[acand], self.stars[acand])
+                if not tmp2: continue
+                tmp[acand] = tmp2
         self.stars = tmp
         self.starcnt.append(len(self.stars))
         self.paircnt.append(self.count_pairs())
 
     def update_acands(self, acands):
         """this is an abside and we're given a 'new info' set of a stars. shrink our a star possibilities."""
-        tmp = dict()
-        for acand in acands:
-            if acand in self.stars: tmp[acand] = self.stars[acand]
-        self.stars = tmp
+        drops = [k for k in self.stars if k not in acands]
+        for k in drops: self.stars.pop(k, None)
         self.starcnt.append(len(self.stars))
         self.paircnt.append(self.count_pairs())
         return