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Diffstat (limited to 'src/Calibrate.cpp')
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diff --git a/src/Calibrate.cpp b/src/Calibrate.cpp new file mode 100755 index 0000000..5e3aedc --- /dev/null +++ b/src/Calibrate.cpp @@ -0,0 +1,278 @@ +/* +The MIT License (MIT) + +Copyright (c) 2012 Juan Ramón + +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +the Software, and to permit persons to whom the Software is furnished to do so, +subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#include "Calibrate.hpp" +#include <QMediaPlayer> +#include <QCompleter> +#include <QFileDialog> +#include <QFile> +#include <QDebug> +#include <QTextStream> +#include <QObject> +#include <QDebug> +#include <QString> +#include <QTime> +#include <QDateTime> +#include <QMessageBox> +#include <QInputDialog> +#include <QException> +#include <QRegExp> +#include <QRegExpValidator> +#include <QList> +#include <QMessageBox> +#include <QWidget> +#include <QByteArray> +#include <QDateTime> +#include <QCoreApplication> +#include <stdio.h> +Calibrate::Calibrate(){ + _t0 = 0; + _k = 1.002737908; // Constant.. Relationship between the solar time (M) and the sidereal time (S): (S = M * 1.002737908) + _isSetR1 = false; + _isSetR2 = false; + _isSetR3 = false; +} + +/* + * Calculates the inverse of the m[3x3] matrix and returns it in the second parameter. + */ +void Calibrate::_inv(double m[3][3], double res[3][3]){ + double idet; + + //Inverse of the determinant + idet = 1/( + (m[0][0]*m[1][1]*m[2][2]) + (m[0][1]*m[1][2]*m[2][0]) + (m[0][2]*m[1][0]*m[2][1]) + - (m[0][2]*m[1][1]*m[2][0]) - (m[0][1]*m[1][0]*m[2][2]) - (m[0][0]*m[1][2]*m[2][1]) + ); + + res[0][0] = ((m[1][1]*m[2][2]) - (m[2][1]*m[1][2]))*idet; + res[0][1] = ((m[2][1]*m[0][2]) - (m[0][1]*m[2][2]))*idet; + res[0][2] = ((m[0][1]*m[1][2]) - (m[1][1]*m[0][2]))*idet; + + res[1][0] = ((m[1][2]*m[2][0]) - (m[2][2]*m[1][0]))*idet; + res[1][1] = ((m[2][2]*m[0][0]) - (m[0][2]*m[2][0]))*idet; + res[1][2] = ((m[0][2]*m[1][0]) - (m[1][2]*m[0][0]))*idet; + + res[2][0] = ((m[1][0]*m[2][1]) - (m[2][0]*m[1][1]))*idet; + res[2][1] = ((m[2][0]*m[0][1]) - (m[0][0]*m[2][1]))*idet; + res[2][2] = ((m[0][0]*m[1][1]) - (m[1][0]*m[0][1]))*idet; +} + +/* + * Multiplies two matrices, m1[3x3] and m2[3x3], and returns the result in + * the third parameter. + */ +void Calibrate::_m_prod(double m1[3][3], double m2[3][3], double res[3][3]){ + for(int i=0; i<3; i++) + for(int j=0; j<3; j++){ + res[i][j] = 0.0; + for(int k=0; k<3; k++) //multiplying row by column + res[i][j] += m1[i][k] * m2[k][j]; + } +} + +/* + * Calculates the Vector cosines (EVC) from the equatorial coordinates (ar, dec, t). + */ +void Calibrate::_setEVC(double ar, double dec, double t, double* EVC){ + EVC[0] = cos(dec)*cos(ar - _k*(t-_t0)); + EVC[1] = cos(dec)*sin(ar - _k*(t-_t0)); + EVC[2] = sin(dec); + qDebug() << "ardec = ["<<ar <<"," <<dec<<"]"; + qDebug() << "LMN = ["<<EVC[0] <<"," <<EVC[1] <<"," <<EVC[2]<<"]"; +} + +/* + * Calculates the Vector cosines (HVC) from the horizontal coordinates (ac, alt). + */ +void Calibrate::_setHVC(double ac, double alt, double* HVC){ + HVC[0] = cos(alt)*cos(ac); + HVC[1] = cos(alt)*sin(ac); + HVC[2] = sin(alt); + qDebug() << "altac = ["<<alt <<"," <<ac<<"]"; + qDebug() << "clmn=["<<HVC[0] <<"," <<HVC[1] <<"," <<HVC[2]<<"]"; +} + +/* + * Sets the initial observation time. + */ +void Calibrate::setTime(double t0){ + _t0 = t0; +} + +/* + * Sets the first reference object. + * If all the reference objects have been established, calls the function that calculates T and iT. + */ +void Calibrate::setRef_1(double ar, double dec, double t, double ac, double alt){ + _setEVC(ar, dec, t, _LMN1); + _setHVC(ac, alt, _lmn1); + _isSetR1 = true; + _isSetR3 = false; + + if(_isSetR1 && _isSetR2 && _isSetR3) + _setT(); +} + +/* + * Sets the second reference object. + * If all the reference objects have been established, calls the function that calculates T and iT. + */ +void Calibrate::setRef_2(double ar, double dec, double t, double ac, double alt){ + _setEVC(ar, dec, t, _LMN2); + _setHVC(ac, alt, _lmn2); + _isSetR2 = true; + _isSetR3 = false; + + if(_isSetR1 && _isSetR2 && _isSetR3) + _setT(); +} + +/* + * Sets the third reference object. + * If all the reference objects have been established, calls the function that calculates T and iT. + */ +void Calibrate::setRef_3(double ar, double dec, double t, double ac, double alt){ + _setEVC(ar, dec, t, _LMN3); + _setHVC(ac, alt, _lmn3); + _isSetR3 = true; + + if(_isSetR1 && _isSetR2 && _isSetR3) + _setT(); +} + +/* + * Indicates if the three reference objects have been established. + */ +bool Calibrate::isConfigured(){ + return (_isSetR1 && _isSetR2 && _isSetR3); +} + +/* + * Third reference object calculated from the cross product of the two first ones. + * Then calls the function that calculates T and iT. + */ +void Calibrate::autoRef_3(){ + float sqrt1, sqrt2; + qDebug() << "inside autoref"; + _isSetR3 = true; + if(_isSetR1 && _isSetR2){ + sqrt1 = (1/( sqrt( pow(( (_lmn1[1]*_lmn2[2]) - (_lmn1[2]*_lmn2[1])),2) + + pow(( (_lmn1[2]*_lmn2[0]) - (_lmn1[0]*_lmn2[2])),2) + + pow(( (_lmn1[0]*_lmn2[1]) - (_lmn1[1]*_lmn2[0])),2)) + )); + _lmn3[0] = sqrt1 * ( (_lmn1[1]*_lmn2[2]) - (_lmn1[2]*_lmn2[1]) ); + _lmn3[1] = sqrt1 * ( (_lmn1[2]*_lmn2[0]) - (_lmn1[0]*_lmn2[2]) ); + _lmn3[2] = sqrt1 * ( (_lmn1[0]*_lmn2[1]) - (_lmn1[1]*_lmn2[0]) ); + + sqrt2 = (1/( sqrt( pow(( (_LMN1[1]*_LMN2[2]) - (_LMN1[2]*_LMN2[1])),2) + + pow(( (_LMN1[2]*_LMN2[0]) - (_LMN1[0]*_LMN2[2])),2) + + pow(( (_LMN1[0]*_LMN2[1]) - (_LMN1[1]*_LMN2[0])),2)) + )); + _LMN3[0] = sqrt2 * ( (_LMN1[1]*_LMN2[2]) - (_LMN1[2]*_LMN2[1]) ); + _LMN3[1] = sqrt2 * ( (_LMN1[2]*_LMN2[0]) - (_LMN1[0]*_LMN2[2]) ); + _LMN3[2] = sqrt2 * ( (_LMN1[0]*_LMN2[1]) - (_LMN1[1]*_LMN2[0]) ); + + if(_isSetR1 && _isSetR2 && _isSetR3) + _setT(); + } +} + +/* + * Sets the transformation matrix and its inverse (T and iT, respectively). + */ +void Calibrate::_setT(){ + double subT1[3][3], subT2[3][3], aux[3][3]; + + subT1[0][0] = _lmn1[0]; subT1[0][1] = _lmn2[0]; subT1[0][2] = _lmn3[0]; + subT1[1][0] = _lmn1[1]; subT1[1][1] = _lmn2[1]; subT1[1][2] = _lmn3[1]; + subT1[2][0] = _lmn1[2]; subT1[2][1] = _lmn2[2]; subT1[2][2] = _lmn3[2]; + + subT2[0][0] = _LMN1[0]; subT2[0][1] = _LMN2[0]; subT2[0][2] = _LMN3[0]; + subT2[1][0] = _LMN1[1]; subT2[1][1] = _LMN2[1]; subT2[1][2] = _LMN3[1]; + subT2[2][0] = _LMN1[2]; subT2[2][1] = _LMN2[2]; subT2[2][2] = _LMN3[2]; + + _inv(subT2, aux); + _m_prod(subT1, aux, _T); + _inv(_T, _iT); + qDebug() << "LMN3 = ["<<_LMN3[0] <<"," <<_LMN3[1] <<"," <<_LMN3[2]<<"]" ; + qDebug() << "lmn3 = ["<<_lmn3[0] <<"," <<_lmn3[1] <<"," <<_lmn3[2]<<"]" ; + qDebug() << "T1 = ["<<_T[0][0] <<"," <<_T[0][1] <<"," <<_T[0][2] <<"," <<_T[1][0] <<"," <<_T[1][1] <<"," <<_T[1][2] <<"," <<_T[2][0] <<"," <<_T[2][1] <<"," <<_T[2][2] <<"]" ; + //qDebug() << "iT = ["<<_iT[0][0] <<"," <<_iT[0][1] <<"," <<_iT[0][2] <<"," <<_iT[1][0] <<"," <<_iT[1][1] <<"," <<_iT[1][2] <<"," <<_iT[2][0] <<"," <<_iT[2][1] <<"," <<_iT[2][2] <<"]"; + +} + +/* + * Horizontal coordinates (ac, alt) obtained from equatorial ones and time (ar, dec, t). + * + * If the third reference object is not established, it calculates it by calling the + * proper function. + */ +void Calibrate::getHCoords(double ar, double dec, double t, double *ac, double *alt){ + double HVC[3]; + double EVC[3]; + _setEVC(ar, dec, t, EVC); + + if(!_isSetR3){ + autoRef_3(); + } + + for(int i=0; i<3; i++){ + HVC[i] = 0.0; } + for(int i=0; i<3; i++){ + for(int j=0; j<3; j++){ + HVC[i] += _T[i][j] * EVC[j]; + } + } + + qDebug() << "clmnforgoto=["<<HVC[0] <<"," <<HVC[1] <<"," <<HVC[2]<<"]"; + + (*ac) = atan2(HVC[1], HVC[0]); + //(*alt) = atan2(HVC[2]*sin(*ac),HVC[1]); + (*alt) = asin(HVC[2]); +} + +/* + * Equatorial coordinates (ar, dec) obtained from horizontal ones and time (ac, alt, t). + * + * If the third reference object is not established, it calculates it by calling the + * proper function. + */ +void Calibrate::getECoords(double ac, double alt, double t, double *ar, double *dec){ + double HVC[3]; + double EVC[3]; + _setHVC(ac, alt, HVC); + + if(!_isSetR3){ + autoRef_3(); + } + + for(int i=0; i<3; i++) + EVC[i] = 0.0; + for(int i=0; i<3; i++) + for(int j=0; j<3; j++) + EVC[i] += _iT[i][j] * HVC[j]; + + (*ar) = atan2(EVC[1], EVC[0]) + (_k*(t-_t0)); + (*dec) = asin(EVC[2]); +} |