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This commit is contained in:
Timur A. Fatkhullin
2026-03-23 23:26:27 +03:00
parent 9959f45b46
commit 7d327a3276
1 changed files with 100 additions and 19 deletions
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119
include/mcc/mcc_pcm_construct.h
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@@ -117,8 +117,7 @@ public:
MccDefaultPCMType pcm_type; MccDefaultPCMType pcm_type;
MccError error{}; // final model computation error MccError error{}; // final model computation error
size_t max_iter{100}; // max number of iterations for robust linear regression method size_t final_iter{}; // number of final iteration
size_t final_iter{}; // number of final iteration
std::vector<double> model_colon{}, model_colat{}; // fitting model values std::vector<double> model_colon{}, model_colat{}; // fitting model values
std::vector<double> colon_res{}, colat_res{}; // target - model std::vector<double> colon_res{}, colat_res{}; // target - model
@@ -132,6 +131,12 @@ public:
#endif #endif
}; };
struct compute_params_t {
size_t max_iter{100}; // max number of iterations for robust linear regression method
double c{4.685}; // Tukey's parameter
double tolerance{1.0E-6}; //
};
MccError addPoint(mcc_skypoint_c auto target_coords, mcc_coord_pair_c auto const& hw_counts) MccError addPoint(mcc_skypoint_c auto target_coords, mcc_coord_pair_c auto const& hw_counts)
requires(decltype(hw_counts)::pairKind == MccCoordPairKind::COORDS_KIND_XY) requires(decltype(hw_counts)::pairKind == MccCoordPairKind::COORDS_KIND_XY)
{ {
@@ -209,7 +214,8 @@ public:
// //
// WARNING: the input knots for inverse B-spline are ignored so the direct and inverse B-spline coefficients are // WARNING: the input knots for inverse B-spline are ignored so the direct and inverse B-spline coefficients are
// calculated on the same mesh! // calculated on the same mesh!
compute_result_t computeModel(MccDefaultPCM<MOUNT_TYPE>::pcm_data_t& pcm_data) compute_result_t computeModel(MccDefaultPCM<MOUNT_TYPE>::pcm_data_t& pcm_data,
compute_params_t const& comp_params = {})
{ {
compute_result_t result{.pcm_type = pcm_data.type, .error = MccDefaultPCMConstructorErrorCode::ERROR_OK}; compute_result_t result{.pcm_type = pcm_data.type, .error = MccDefaultPCMConstructorErrorCode::ERROR_OK};
@@ -232,6 +238,7 @@ public:
} }
// robust linear regression with Tukey's loss function // robust linear regression with Tukey's loss function
result = robustLinearRegress(pcm_data, comp_params);
} else { } else {
if (_table.size() < min_data_size) { if (_table.size() < min_data_size) {
result.error = MccDefaultPCMConstructorErrorCode::ERROR_NOT_ENOUGH_DATA; result.error = MccDefaultPCMConstructorErrorCode::ERROR_NOT_ENOUGH_DATA;
@@ -247,13 +254,33 @@ public:
// the fitting for geometrical coefficients is already done above so // the fitting for geometrical coefficients is already done above so
// one must fit residuals by bivariate B-splines // one must fit residuals by bivariate B-splines
std::vector<double> xres(numberOfPoints()), yres(numberOfPoints()); std::vector<double> xres = _table.colon_res, yres = _table.colat_res;
for (size_t i = 0; i < numberOfPoints(); ++i) { for (size_t i = 0; i < numberOfPoints(); ++i) {
xres = _table.target_colon[i] - result.model_colon; _table.colon_res = _table.target_colon[i] - result.model_colon;
yres = _table.target_colat[i] - result.model_colat; _table.colat_res = _table.target_colat[i] - result.model_colat;
} }
auto r = bsplineFitting(pcm_data);
result.error = r.error;
result.bspline_fit_err = r.bspline_fit_err;
if (!r.error) {
for (size_t i = 0; i < numberOfPoints(); ++i) {
result.model_colon += r.model_colon;
result.model_colat += r.model_colat;
result.colon_res = _table.target_colon[i] - result.model_colon;
result.colat_res = _table.target_colat[i] - result.model_colat;
}
}
// restore original residuals
_table.colon_res = xres;
_table.colat_res = yres;
} }
#endif #endif
return result;
} }
protected: protected:
@@ -373,7 +400,8 @@ protected:
} }
compute_result_t robustLinearRegress(MccDefaultPCM<MOUNT_TYPE>::pcm_data_t& pcm_data, size_t max_iter = 100) compute_result_t robustLinearRegress(MccDefaultPCM<MOUNT_TYPE>::pcm_data_t& pcm_data,
compute_params_t const& comp_params)
{ {
auto tukey_weight = [](Eigen::VectorXd const& resi, double tukey_c, Eigen::VectorXd& tukey_weight) { auto tukey_weight = [](Eigen::VectorXd const& resi, double tukey_c, Eigen::VectorXd& tukey_weight) {
Eigen::ArrayXd u = (resi / tukey_c).cwiseAbs(); Eigen::ArrayXd u = (resi / tukey_c).cwiseAbs();
@@ -396,13 +424,14 @@ protected:
1.0E-8; 1.0E-8;
}; };
compute_result_t result{ compute_result_t result{.pcm_type = pcm_data.type,
.pcm_type = pcm_data.type, .error = MccDefaultPCMConstructorErrorCode::ERROR_OK, .max_iter = max_iter}; .error = MccDefaultPCMConstructorErrorCode::ERROR_OK,
.max_iter = comp_params.max_iter};
const size_t n_coeffs = pcm_data.type == MOUNT_TYPE == MccMountType::FORK_TYPE ? 9 : 8; const size_t n_coeffs = pcm_data.type == MOUNT_TYPE == MccMountType::FORK_TYPE ? 9 : 8;
Eigen::MatrixXd X(2 * numberOfPoints(), n_coeffs); Eigen::MatrixXd X(2 * numberOfPoints(), n_coeffs);
Eigen::VectorXd y(2 * numberOfPoints()), beta(n_coeffs); Eigen::VectorXd y(2 * numberOfPoints()), beta(n_coeffs), new_beta(n_coeffs);
Eigen::RowVectorXd row(n_coeffs); Eigen::RowVectorXd row(n_coeffs);
double tgY, cosY, rcosY, cosX, sinX, cosPhi = std::cos(pcm_data.siteLatitude), double tgY, cosY, rcosY, cosX, sinX, cosPhi = std::cos(pcm_data.siteLatitude),
@@ -417,21 +446,34 @@ protected:
sinX = std::sin(_table.target_colon[i]); sinX = std::sin(_table.target_colon[i]);
// [X0, Y0, collim, nonperp, misal1, misal2, tubefl, DEcaxfl, forkfl] or // [X0, Y0, collim, nonperp, misal1, misal2, tubefl, DECaxfl, forkfl] or
// [X0, Y0, collim, nonperp, misal1, misal2, tubefl, DEcaxfl] // [X0, Y0, collim, nonperp, misal1, misal2, tubefl, DECaxfl]
if constexpr (MOUNT_TYPE == MccMountType::FORK_TYPE) { if constexpr (MOUNT_TYPE == MccMountType::FORK_TYPE) {
row << 1.0, 0.0, rcosY, tgY, -cosX * tgY, sinX * tgY, cosPhi * sinX * rcosY, if (utils::isEqual(cosY, 0.0)) {
-(cosPhi * cosX + sinPhi * tgY), 0.0; row << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
} else {
row << 1.0, 0.0, rcosY, tgY, -cosX * tgY, sinX * tgY, cosPhi * sinX * rcosY,
-(cosPhi * cosX + sinPhi * tgY), 0.0;
}
} else { } else {
row << 1.0, 0.0, rcosY, tgY, -cosX * tgY, sinX * tgY, cosPhi * sinX * rcosY, if (utils::isEqual(cosY, 0.0)) {
-(cosPhi * cosX + sinPhi * tgY); row << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
} else {
row << 1.0, 0.0, rcosY, tgY, -cosX * tgY, sinX * tgY, cosPhi * sinX * rcosY,
-(cosPhi * cosX + sinPhi * tgY);
}
} }
X.row(i) = row; X.row(i) = row;
if constexpr (MOUNT_TYPE == MccMountType::FORK_TYPE) { if constexpr (MOUNT_TYPE == MccMountType::FORK_TYPE) {
row << 0.0, 1.0, 0.0, 0.0, sinX, cosX, cosPhi * cosX * std::sin(_table.target_colat[i]) - sinPhi * cosY, if (utils::isEqual(cosX, 0.0)) {
0.0, 1.0 / cosX; row << 0.0, 1.0, 0.0, 0.0, sinX, cosX,
cosPhi * cosX * std::sin(_table.target_colat[i]) - sinPhi * cosY, 0.0, 0.0;
} else {
row << 0.0, 1.0, 0.0, 0.0, sinX, cosX,
cosPhi * cosX * std::sin(_table.target_colat[i]) - sinPhi * cosY, 0.0, 1.0 / cosX;
}
} else { } else {
row << 0.0, 1.0, 0.0, 0.0, sinX, cosX, cosPhi * cosX * std::sin(_table.target_colat[i]) - sinPhi * cosY, row << 0.0, 1.0, 0.0, 0.0, sinX, cosX, cosPhi * cosX * std::sin(_table.target_colat[i]) - sinPhi * cosY,
0.0; 0.0;
@@ -448,9 +490,48 @@ protected:
double scale; double scale;
for (result.final_iter = 1; result.final_iter <= max_iter; ++result.final_iter) { for (result.final_iter = 1; result.final_iter <= comp_params.max_iter; ++result.final_iter) {
scale = gastwirth_est(resi); scale = gastwirth_est(resi);
tukey_weight(resi / scale, comp_params.c, weights);
Eigen::MatrixXd XtW = X.transpose() * weights.asDiagonal();
Eigen::MatrixXd XtWX = XtW * X;
Eigen::VectorXd XtWy = XtW * y;
new_beta = XtWX.ldlt().solve(XtWy);
if ((new_beta - beta).norm() < comp_params.tolerance) {
break;
}
beta = new_beta;
} }
pcm_data.geomCoefficients.zeroPointX = new_beta(0);
pcm_data.geomCoefficients.zeroPointY = new_beta(1);
pcm_data.geomCoefficients.collimationErr = new_beta(2);
pcm_data.geomCoefficients.nonperpendErr = new_beta(3);
pcm_data.geomCoefficients.misalignErr1 = new_beta(4);
pcm_data.geomCoefficients.misalignErr2 = new_beta(5);
pcm_data.geomCoefficients.tubeFlexure = new_beta(6);
pcm_data.geomCoefficients.DECaxisFlexure = new_beta(7);
if constexpr (MOUNT_TYPE == MccMountType::FORK_TYPE) {
pcm_data.geomCoefficients.forkFlexure = new_beta(8);
}
Eigen::VectorXd model = X * new_beta;
result.model_colon = {model.begin(), model.begin() + numberOfPoints()};
result.model_colat = {model.begin() + numberOfPoints(), model.end()};
for (size_t i = 0; i < numberOfPoints(); ++i) {
result.colon_res[i] = _table.colon_res[i] - result.model_colon[i]; // = target - model
result.colat_res[i] = _table.colat_res[i] - result.model_colat[i]; // = target - model
result.model_colon[i] += _table.hw_colon[i]; // == hw + fitted_pcmX
result.model_colat[i] += _table.hw_colat[i]; // == hw + fitted_pcmY
}
return result;
} }
}; };