leonarski_f
e441434644
The beam prior at XtalOptimizer already treats the beam component parallel to the spindle as the gauge direction of a single-axis rotation experiment and restrains it toward the value it was handed. The detector tilt is that same gauge described a second time, and it was left free with a flat +-3 deg box. The correspondence is not an observation about one beamline, it follows from the convention: PoniRotMatrix builds the detector matrix as R(-rot3,z)R(-rot2,x)R(rot1,y), which puts the direct beam at (beam_x - rot1*D/pixel, beam_y - rot2*D/pixel). rot1 IS beam_x written as an angle and rot2 IS beam_y, component for component. So on a horizontal spindle the gauge tilt is rot1 and rot2 is refined; on a vertical spindle it is the other way round. With only one end of the alias restrained, a beam-centre error the prior refuses to absorb reappears as an angle: measured elsewhere in this campaign, refined rot1 tracks the starting beam centre at 0.072 deg per pixel against a geometric 0.080, while the refined beam never leaves its anchor by more than 0.24 px. Restraining both ends, in the same direction and to the same three-pixel budget, leaves the determined component - the direct beam, and the tilt perpendicular to the spindle - alone. Both restraints now take their direction from one projection of the spindle onto the detector plane rather than from two independent snaps to whichever of X/Y dominates, so they cannot disagree, and a spindle at any angle is handled. On a spindle along a detector axis the projection is the snap.
654 lines
31 KiB
C++
654 lines
31 KiB
C++
// SPDX-FileCopyrightText: 2025 Filip Leonarski, Paul Scherrer Institute <filip.leonarski@psi.ch>
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// SPDX-License-Identifier: GPL-3.0-only
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#include "../../common/JFJochMath.h"
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#include <algorithm>
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#include <Eigen/Dense>
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#include "XtalOptimizer.h"
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#include "XtalResidual.h"
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#include "ceres/ceres.h"
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#include "ceres/rotation.h"
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#include "LatticeReduction.h"
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// Soft header prior on ONE beam-centre component (the spindle-parallel, gauge-weak one). Residual = w*(b - b0);
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// the caller sets w so the prior behaves like a sigma-pixel restraint that competes with the (unit-weight)
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// positional residuals - strong enough to pin the gauge direction, negligible in the well-constrained one.
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// Soft restraint on one direction of a two-component block: g.(p - p0), weighted. Used for the beam
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// centre and for the detector tilt, which are the same gauge seen twice (see the gauge block below),
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// so they take the same direction g and cannot disagree about it.
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struct GaugeDirectionPrior {
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GaugeDirectionPrior(double gx, double gy, double p0, double weight)
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: gx(gx), gy(gy), p0(p0), weight(weight) {}
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template<typename T>
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bool operator()(const T *const p, T *residual) const {
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residual[0] = T(weight) * (T(gx) * p[0] + T(gy) * p[1] - T(p0));
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return true;
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}
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double gx, gy, p0, weight;
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};
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struct XtalResidualRotationOnlyPrecomp {
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XtalResidualRotationOnlyPrecomp(const Coord &recip_obs,
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const CrystalLattice &latt,
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double h, double k, double l)
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: s_obs(recip_obs),
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astar(latt.Astar()), bstar(latt.Bstar()), cstar(latt.Cstar()),
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h(h), k(k), l(l) {
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}
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template<typename T>
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bool operator()(const T *const rot_aa, T *residual) const {
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const T astar_unrot[3] = {T(astar.x), T(astar.y), T(astar.z)};
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const T bstar_unrot[3] = {T(bstar.x), T(bstar.y), T(bstar.z)};
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const T cstar_unrot[3] = {T(cstar.x), T(cstar.y), T(cstar.z)};
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T astar_rot[3], bstar_rot[3], cstar_rot[3];
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const AngleAxisRotator<T> rot(rot_aa);
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rot.Rotate(astar_unrot, astar_rot);
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rot.Rotate(bstar_unrot, bstar_rot);
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rot.Rotate(cstar_unrot, cstar_rot);
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const Eigen::Matrix<T, 3, 1> s_pred(T(h) * astar_rot[0] + T(k) * bstar_rot[0] + T(l) * cstar_rot[0],
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T(h) * astar_rot[1] + T(k) * bstar_rot[1] + T(l) * cstar_rot[1],
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T(h) * astar_rot[2] + T(k) * bstar_rot[2] + T(l) * cstar_rot[2]
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);
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// Residual in reciprocal space
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residual[0] = T(s_obs.x) - s_pred[0];
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residual[1] = T(s_obs.y) - s_pred[1];
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residual[2] = T(s_obs.z) - s_pred[2];
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return true;
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}
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const Coord s_obs;
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const Coord astar, bstar, cstar;
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const double h, k, l;
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};
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// Regularizer: penalises ||rot_aa|| to prefer the smallest rotation that
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// explains the data. Weight should be chosen in the same units as the
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// reciprocal-space residuals (Å⁻¹ per radian). A value of ~0.01–0.1 is
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// typically enough to break degeneracy without biasing the solution.
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struct RotationNormRegularizer {
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explicit RotationNormRegularizer(double weight) : weight(weight) {}
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template<typename T>
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bool operator()(const T *const rot_aa, T *residual) const {
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residual[0] = T(weight) * rot_aa[0];
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residual[1] = T(weight) * rot_aa[1];
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residual[2] = T(weight) * rot_aa[2];
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return true;
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}
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const double weight;
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};
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// Prior confidence weight per spot: how strong the spot is FOR ITS RESOLUTION. The frame's spots are
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// ordered by resolution and cut into equal-count shells, and each intensity is divided by its shell
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// median. Refinement needs the high-resolution spots (they carry the cell and distance information) and
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// those are legitimately weaker, so a raw intensity weight would suppress exactly the wrong ones; the
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// shell normalisation makes the weight resolution-neutral by construction.
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//
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// The weight enters as w^2 on the squared residual, w^2 = r/(1+r): the shell median contributes half,
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// a 4x-median spot 0.8, a quarter-median spot 0.2. Weak spots still pull, they just do not drive. Unlike
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// a robust loss this is a PRIOR - it never looks at the current residual, so it cannot mistake a genuine
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// spot for an outlier when the starting geometry is far off and leave the fit unable to move.
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static std::vector<double> SpotConfidenceWeights(const std::vector<SpotToSave> &spots) {
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constexpr size_t spots_per_shell = 32;
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// Resolution order. Sorting a packed (resolution, index) array rather than an index vector with a
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// projection into the spots keeps the comparisons off the 80-byte records - the same keys in the
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// same order, so introsort makes the same comparisons and the same swaps, and the order it leaves
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// is the same.
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struct SpotByRes {
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float d_A;
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uint32_t index;
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};
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std::vector<SpotByRes> by_res(spots.size());
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for (size_t i = 0; i < spots.size(); i++)
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by_res[i] = {spots[i].d_A, static_cast<uint32_t>(i)};
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std::ranges::sort(by_res, {}, &SpotByRes::d_A);
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const size_t nshells = std::max<size_t>(1, spots.size() / spots_per_shell);
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std::vector<double> weight(spots.size());
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std::vector<float> shell_intensity;
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for (size_t s = 0; s < nshells; s++) {
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const size_t begin = s * spots.size() / nshells;
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const size_t end = (s + 1) * spots.size() / nshells;
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shell_intensity.clear();
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for (size_t i = begin; i < end; i++)
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shell_intensity.push_back(spots[by_res[i].index].intensity);
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std::ranges::nth_element(shell_intensity, shell_intensity.begin() + shell_intensity.size() / 2);
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const double median = std::max(1e-3f, shell_intensity[shell_intensity.size() / 2]);
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for (size_t i = begin; i < end; i++) {
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const double r = std::max(0.0f, spots[by_res[i].index].intensity) / median;
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weight[by_res[i].index] = std::sqrt(r / (1.0 + r));
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}
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}
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return weight;
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}
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bool XtalOptimizerInternal(XtalOptimizerData &data,
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std::span<const std::vector<SpotToSave>> spots,
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const std::vector<std::vector<double>> &weights,
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const float tolerance,
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const int num_threads) {
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try {
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// A coplanar basis has no reciprocal cell: 1/V is infinite, every predicted reciprocal vector
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// comes out NaN, and Ceres fails on the very first evaluation - after dumping the offending
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// block to stderr. There is nothing for the refinement to recover here, so refuse the lattice
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// before the problem is built rather than let the solver discover it. The check has to be on
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// the vectors: this close to flat, float cell angles no longer carry even the SIGN of the
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// metric determinant, and the triclinic branch of XtalResidual then clamps c into the a-b
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// plane and divides by the zero volume that makes.
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if (data.latt.VolumeFraction() < MIN_BASIS_VOLUME_FRACTION)
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return false;
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Coord vec0 = data.latt.Vec0();
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Coord vec1 = data.latt.Vec1();
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Coord vec2 = data.latt.Vec2();
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double beta = data.latt.GetUnitCell().beta;
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// Initial guess for the parameters
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double beam[2] = {data.geom.GetBeamX_pxl(), data.geom.GetBeamY_pxl()};
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double distance_mm = data.geom.GetDetectorDistance_mm();
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double detector_rot[2] = {data.geom.GetPoniRot1_rad(), data.geom.GetPoniRot2_rad()};
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// The per-frame constants of the reduced residual (see XtalFrameConstants), one entry per frame
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// that contributes. Reserved up front and never grown past that, so the residual blocks' pointers
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// into it stay valid, and declared before the problem so that it outlives it.
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std::vector<XtalFrameConstants> frame_const;
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frame_const.reserve(spots.size());
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ceres::Problem problem;
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double latt_vec0[3] = {0.0, 0.0, 0.0};
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double latt_vec1[3] = {0.0, 0.0, 0.0};
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double latt_vec2[3] = {0.0, 0.0, 0.0};
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double rot_vec[3] = {1, 0, 0};
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switch (data.crystal_system) {
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case gemmi::CrystalSystem::Orthorhombic:
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LatticeToRodriguesAndLengths_GS(data.latt, latt_vec0, latt_vec1);
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break;
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case gemmi::CrystalSystem::Tetragonal:
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LatticeToRodriguesAndLengths_GS(data.latt, latt_vec0, latt_vec1);
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latt_vec1[0] = (latt_vec1[0] + latt_vec1[1]) / 2.0;
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break;
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case gemmi::CrystalSystem::Cubic:
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LatticeToRodriguesAndLengths_GS(data.latt, latt_vec0, latt_vec1);
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latt_vec1[0] = (latt_vec1[0] + latt_vec1[1] + latt_vec1[2]) / 3.0;
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break;
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case gemmi::CrystalSystem::Hexagonal:
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LatticeToRodriguesAndLengths_Hex(data.latt, latt_vec0, latt_vec1);
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break;
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case gemmi::CrystalSystem::Monoclinic:
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LatticeToRodriguesLengthsBeta_Mono(data.latt, latt_vec0, latt_vec1, beta);
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latt_vec2[0] = beta;
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latt_vec2[1] = 0.0;
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latt_vec2[2] = 0.0;
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break;
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default:
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// Triclinic: initialize a,b,c and α,β,γ from current unit cell
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LatticeToRodriguesAndLengths_GS(data.latt, latt_vec0, latt_vec1);
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auto uc = data.latt.GetUnitCell();
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latt_vec2[0] = uc.alpha * PI / 180.0;
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latt_vec2[1] = uc.beta * PI / 180.0;
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latt_vec2[2] = uc.gamma * PI / 180.0;
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break;
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}
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if (data.axis) {
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rot_vec[0] = data.axis->GetAxis().x;
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rot_vec[1] = data.axis->GetAxis().y;
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rot_vec[2] = data.axis->GetAxis().z;
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}
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const float tolerance_sq = tolerance * tolerance;
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// The same for every spot of every frame, so taken once here rather than per residual.
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const double cos_rot3 = std::cos(data.geom.GetPoniRot3_rad());
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const double sin_rot3 = std::sin(data.geom.GetPoniRot3_rad());
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// Per-image rotation refinement frees only the beam and the orientation and holds the other five
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// blocks constant, so the seven-block residual makes Ceres differentiate 17 parameters to use 5.
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// Where that is the configuration, use the reduced residual instead - identical fit, Jet<5>
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// autodiff. Any other combination (stills also free the cell, the offline refiner frees distance
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// and detector angles) keeps the general form below.
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const bool beam_and_orientation_only = data.refine_beam_center
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&& !data.refine_detector_angles
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&& !data.refine_rotation_axis
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&& !data.refine_unit_cell;
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// Sum of w^2 over the spots that entered - the beam prior below is scaled by it so that its
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// strength relative to the data is the same weighted or not. Equals the residual block count
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// when the spots are unweighted.
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double effective_spots = 0.0;
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for (int i = 0; i < spots.size(); i++) {
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if (spots[i].empty())
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continue;
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const std::vector<double> &weight = weights[i]; // empty = unweighted
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double angle_rad = 0.0;
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std::optional<RotMatrix> rot_matr;
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if (data.axis) {
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const float angle_deg = data.axis->GetAngle_deg(i) + data.axis->GetWedge_deg() / 2.0;
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angle_rad = angle_deg * PI / 180.0;
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rot_matr = data.axis->GetTransformationAngle(angle_deg);
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}
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if (beam_and_orientation_only)
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frame_const.emplace_back(detector_rot, rot_vec, angle_rad, latt_vec1, latt_vec2,
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data.crystal_system);
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// Add residuals for each point
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for (size_t j = 0; j < spots[i].size(); j++) {
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const auto &pt = spots[i][j];
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if (!data.index_ice_rings && pt.ice_ring)
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continue;
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Coord recip = pt.ReciprocalCoord(data.geom);
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if (rot_matr)
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recip = rot_matr.value() * recip;
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double h_fp = recip * vec0;
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double k_fp = recip * vec1;
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double l_fp = recip * vec2;
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double h = std::round(h_fp);
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double k = std::round(k_fp);
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double l = std::round(l_fp);
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double norm_sq = (h - h_fp) * (h - h_fp) + (k - k_fp) * (k - k_fp) + (l - l_fp) * (l - l_fp);
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if (norm_sq > tolerance_sq)
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continue;
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const double weight_sq = weight.empty() ? 1.0 : weight[j] * weight[j];
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effective_spots += weight_sq;
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const XtalResidual residual(pt.x, pt.y,
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data.geom.GetWavelength_A(),
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data.geom.GetPixelSize_mm(),
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cos_rot3, sin_rot3,
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angle_rad,
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h, k, l,
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data.crystal_system,
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data.geom.GetOrientation());
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// Ceres has no per-residual weight; ScaledLoss(nullptr, a) multiplies the squared
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// residual by the constant a, i.e. it applies a weight of sqrt(a) to the residual.
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ceres::LossFunction *loss = weight.empty()
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? nullptr
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: new ceres::ScaledLoss(nullptr, weight_sq,
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ceres::TAKE_OWNERSHIP);
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if (beam_and_orientation_only)
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problem.AddResidualBlock(
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new ceres::AutoDiffCostFunction<XtalResidualBeamOrientation, 3, 2, 3>(
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new XtalResidualBeamOrientation(residual, distance_mm, frame_const.back())),
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loss,
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beam,
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latt_vec0
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);
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else
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problem.AddResidualBlock(
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new ceres::AutoDiffCostFunction<XtalResidualFixedDistance, 3, 2, 2, 3, 3, 3, 3>(
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new XtalResidualFixedDistance(residual, distance_mm)),
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loss,
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beam,
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detector_rot,
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rot_vec,
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latt_vec0,
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latt_vec1,
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latt_vec2
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);
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}
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}
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if (problem.NumResidualBlocks() < data.min_spots)
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return false;
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// The gauge direction of a single-axis rotation experiment, in the detector plane: the
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// component of the spindle that lies in it, normalised. Both gauge restraints below are built
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// from this one vector, so they cannot pick different directions. Projecting rather than
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// snapping to whichever of X / Y dominates is exact on a spindle at any angle and reduces to
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// the snap when the spindle lies along a detector axis, which is the standard geometry.
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double gauge_x = 0.0, gauge_y = 0.0;
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if (data.axis) {
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const Coord spindle = data.axis->GetAxis();
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const double n = std::hypot(spindle.x, spindle.y);
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if (n > 0.0) {
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gauge_x = spindle.x / n;
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gauge_y = spindle.y / n;
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}
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}
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// Weight so a gauge prior is a sigma_px-pixel restraint that competes with the positional
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// residuals. k = d|recip|/d(beam_px) ~ pixel/(distance*lambda) [A^-1/px]; scaling by
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// sqrt(#residuals) makes the prior's curvature ~ (1/9) of the well-constrained-data curvature
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// at sigma_px=3, i.e. data wins the perpendicular direction, the prior wins the gauge one.
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constexpr double sigma_px = 3.0;
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const double gauge_w = data.geom.GetPixelSize_mm() / (distance_mm * data.geom.GetWavelength_A())
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* std::sqrt(effective_spots) / sigma_px;
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if (!data.refine_beam_center)
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problem.SetParameterBlockConstant(beam);
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else if (data.axis) {
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// Gauge handling (single-axis rotation): rotating the whole experiment about the spindle leaves every
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// spot position unchanged, so the beam-centre component PARALLEL to the spindle is a null/gauge-weak
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// direction. Refining it freely lets it wander (~+3 px) and absorb centroid systematics into a wrong
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// beam that the co-refined orientation keeps position-consistent. Rather than freeze it (the beam
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// does drift - it is only LaB6-monitored to ~a few px), RESTRAIN it toward the header with a soft
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// prior: the gauge direction has ~zero data sensitivity so the prior pins it near the header, while a
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// real, well-supported drift can still overcome it.
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problem.AddResidualBlock(
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new ceres::AutoDiffCostFunction<GaugeDirectionPrior, 1, 2>(
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new GaugeDirectionPrior(gauge_x, gauge_y,
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gauge_x * beam[0] + gauge_y * beam[1], gauge_w)),
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nullptr, beam);
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}
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// Distance, detector angles, rotation axis and cell are parameter blocks only in the general
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// seven-block residual; the reduced one bakes them in, so there is nothing left to configure.
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if (!beam_and_orientation_only) {
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if (!data.refine_detector_angles) {
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problem.SetParameterBlockConstant(detector_rot);
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} else {
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const double rot_range = 3.0 / 180.0 * PI;
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for (int i = 0; i < 2; ++i) {
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problem.SetParameterLowerBound(detector_rot, i, detector_rot[i] - rot_range);
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problem.SetParameterUpperBound(detector_rot, i, detector_rot[i] + rot_range);
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}
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// The same gauge, described a second time. In this PONI convention the direct beam
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// sits at (beam_x - rot1*D/pixel, beam_y - rot2*D/pixel) - verified from
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// PoniRotMatrix(), which builds the detector matrix as R(-rot3,z)R(-rot2,x)R(rot1,y) -
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// so rot1 IS beam_x written as an angle and rot2 IS beam_y, component for component,
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// at D/pixel px per radian. The spindle-parallel beam component is the gauge one, so
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// the SAME combination of the tilt is gauge too, and leaving it free lets a
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// beam-centre error the prior above refuses to absorb reappear as an angle. Restrain
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// it, in the same direction and to the same sigma_px budget, converted to an angle by
|
||
// its own lever arm D/pixel.
|
||
if (data.axis)
|
||
problem.AddResidualBlock(
|
||
new ceres::AutoDiffCostFunction<GaugeDirectionPrior, 1, 2>(
|
||
new GaugeDirectionPrior(gauge_x, gauge_y,
|
||
gauge_x * detector_rot[0] + gauge_y * detector_rot[1],
|
||
gauge_w * distance_mm / data.geom.GetPixelSize_mm())),
|
||
nullptr, detector_rot);
|
||
}
|
||
|
||
if (!data.refine_rotation_axis) {
|
||
problem.SetParameterBlockConstant(rot_vec);
|
||
}
|
||
|
||
if (!data.refine_unit_cell) {
|
||
problem.SetParameterBlockConstant(latt_vec1);
|
||
problem.SetParameterBlockConstant(latt_vec2);
|
||
} else {
|
||
// Parameter bounds
|
||
// Lengths
|
||
for (int i = 0; i < 3; ++i) {
|
||
problem.SetParameterLowerBound(latt_vec1, i, data.min_length_A);
|
||
problem.SetParameterUpperBound(latt_vec1, i, data.max_length_A);
|
||
}
|
||
|
||
if (data.crystal_system == gemmi::CrystalSystem::Monoclinic) {
|
||
const double beta_lo = std::max(1e-6, PI * (data.min_angle_deg / 180.0));
|
||
const double beta_hi = std::min(PI - 1e-6, PI * (data.max_angle_deg / 180.0));
|
||
problem.SetParameterLowerBound(latt_vec2, 0, beta_lo);
|
||
problem.SetParameterUpperBound(latt_vec2, 0, beta_hi);
|
||
} else if (data.crystal_system == gemmi::CrystalSystem::Triclinic) {
|
||
// α, β, γ bounds (radians)
|
||
const double alo = PI * (data.min_angle_deg / 180.0);
|
||
const double ahi = PI * (data.max_angle_deg / 180.0);
|
||
for (int i = 0; i < 3; ++i) {
|
||
problem.SetParameterLowerBound(latt_vec2, i, alo);
|
||
problem.SetParameterUpperBound(latt_vec2, i, ahi);
|
||
}
|
||
} else {
|
||
// Orthorhombic / Tetragonal / Cubic / Hexagonal:
|
||
// latt_vec2 has no meaning for these systems — always freeze it.
|
||
problem.SetParameterBlockConstant(latt_vec2);
|
||
}
|
||
}
|
||
}
|
||
|
||
// Configure solver
|
||
ceres::Solver::Options options;
|
||
// Normal equations, not QR. The problem is very tall and thin - thousands of spots against at
|
||
// most 17 parameters - and that is the shape DENSE_QR handles worst: it copies the Jacobian out
|
||
// of Ceres' row-major storage into a column-major buffer on every solve, and Eigen's blocked
|
||
// Householder then degenerates to the unblocked path because its block size is min(48, columns).
|
||
// Accumulating J^T J reads the Jacobian once instead. Both solve the same damped system, so the
|
||
// step is the same to round-off; the column scaling Ceres applies by default and the LM diagonal
|
||
// keep the squared condition number in hand.
|
||
options.linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY;
|
||
options.minimizer_progress_to_stdout = false;
|
||
if (data.max_iterations > 0)
|
||
options.max_num_iterations = data.max_iterations;
|
||
else
|
||
options.max_solver_time_in_seconds = data.max_time;
|
||
options.logging_type = ceres::LoggingType::SILENT;
|
||
options.num_threads = num_threads; // usually 1 (called from many threads); caller may raise it
|
||
ceres::Solver::Summary summary;
|
||
|
||
// Run optimization
|
||
ceres::Solve(options, &problem, &summary);
|
||
|
||
// Only a genuine numerical failure is rejected here: a solve that ran out of iterations or
|
||
// out of time but still descended counts as usable, which is what the real-time caller
|
||
// relies on when it sets max_solver_time. Checked before anything is written back, so a
|
||
// failed refinement leaves data untouched rather than committing half a fit.
|
||
if (!summary.IsSolutionUsable())
|
||
return false;
|
||
|
||
if (data.refine_beam_center) {
|
||
data.beam_corr_x = data.geom.GetBeamX_pxl() - beam[0];
|
||
data.beam_corr_y = data.geom.GetBeamY_pxl() - beam[1];
|
||
data.geom.BeamX_pxl(beam[0]).BeamY_pxl(beam[1]);
|
||
}
|
||
|
||
|
||
if (data.refine_detector_angles)
|
||
data.geom.PoniRot1_rad(detector_rot[0]).PoniRot2_rad(detector_rot[1]);
|
||
|
||
if (data.axis && data.refine_rotation_axis)
|
||
data.axis.value().Axis(Coord(rot_vec[0], rot_vec[1], rot_vec[2]));
|
||
|
||
if (data.crystal_system == gemmi::CrystalSystem::Orthorhombic)
|
||
data.latt = AngleAxisAndCellToLattice(latt_vec0, latt_vec1, PI / 2.0, PI / 2.0, PI / 2.0);
|
||
else if (data.crystal_system == gemmi::CrystalSystem::Tetragonal) {
|
||
latt_vec1[1] = latt_vec1[0];
|
||
data.latt = AngleAxisAndCellToLattice(latt_vec0, latt_vec1, PI / 2.0, PI / 2.0, PI / 2.0);
|
||
} else if (data.crystal_system == gemmi::CrystalSystem::Cubic) {
|
||
latt_vec1[1] = latt_vec1[0];
|
||
latt_vec1[2] = latt_vec1[0];
|
||
data.latt = AngleAxisAndCellToLattice(latt_vec0, latt_vec1, PI / 2.0, PI / 2.0, PI / 2.0);
|
||
} else if (data.crystal_system == gemmi::CrystalSystem::Hexagonal) {
|
||
latt_vec1[1] = latt_vec1[0];
|
||
data.latt = AngleAxisAndCellToLattice(latt_vec0, latt_vec1,PI / 2.0, PI / 2.0, 2.0 * PI / 3.0);
|
||
} else if (data.crystal_system == gemmi::CrystalSystem::Monoclinic) {
|
||
data.latt = AngleAxisAndCellToLattice(latt_vec0, latt_vec1, PI / 2.0, latt_vec2[0], PI / 2.0);
|
||
} else {
|
||
// Triclinic via the same generic builder
|
||
data.latt = AngleAxisAndCellToLattice(latt_vec0, latt_vec1, latt_vec2[0], latt_vec2[1], latt_vec2[2]);
|
||
}
|
||
return true;
|
||
} catch (...) {
|
||
// Convergence problems, likely not updated
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool XtalOptimizer(XtalOptimizerData &data, std::span<const std::vector<SpotToSave>> spots,
|
||
int num_threads) {
|
||
// A spot's confidence weight is set by its resolution and its intensity, neither of which the solver
|
||
// touches, so the three passes below all get the same weights: take them once.
|
||
std::vector<std::vector<double>> weights(spots.size());
|
||
if (data.weight_spots_by_confidence)
|
||
for (size_t i = 0; i < spots.size(); i++)
|
||
if (!spots[i].empty())
|
||
weights[i] = SpotConfidenceWeights(spots[i]);
|
||
|
||
if (!XtalOptimizerInternal(data, spots, weights, 0.3, num_threads))
|
||
return false;
|
||
XtalOptimizerInternal(data, spots, weights, 0.2, num_threads);
|
||
return XtalOptimizerInternal(data, spots, weights, 0.1, num_threads);
|
||
}
|
||
|
||
bool XtalOptimizer(XtalOptimizerData &data, const std::vector<SpotToSave> &spots, int num_threads) {
|
||
return XtalOptimizer(data, std::span(&spots, 1), num_threads);
|
||
}
|
||
|
||
bool XtalOptimizerRotationOnly(XtalOptimizerData &data,
|
||
const std::vector<SpotToSave> &spots,
|
||
const float tolerance) {
|
||
try {
|
||
// Same refusal as XtalOptimizerInternal: the residual here is built from Astar/Bstar/Cstar,
|
||
// which divide by the cell volume, so a coplanar basis makes every one of them infinite.
|
||
if (data.latt.VolumeFraction() < MIN_BASIS_VOLUME_FRACTION)
|
||
return false;
|
||
|
||
// Parameter: angle-axis for the extra rotation. Identity == {0,0,0}.
|
||
double rot_aa[3] = {0.0, 0.0, 0.0};
|
||
|
||
// Spot selection by current indexing (same approach as XtalOptimizerInternal)
|
||
const Coord a0 = data.latt.Vec0();
|
||
const Coord b0 = data.latt.Vec1();
|
||
const Coord c0 = data.latt.Vec2();
|
||
|
||
const float tol_sq = tolerance * tolerance;
|
||
|
||
ceres::Problem problem;
|
||
|
||
for (const auto &pt : spots) {
|
||
if (!data.index_ice_rings && pt.ice_ring)
|
||
continue;
|
||
|
||
// Compute fractional HKL using the CURRENT lattice
|
||
Coord recip_index = pt.ReciprocalCoord(data.geom);
|
||
if (data.axis.has_value())
|
||
recip_index = data.axis->GetTransformationAngle(pt.phi) * recip_index;
|
||
|
||
const double h_fp = static_cast<double>(recip_index * a0);
|
||
const double k_fp = static_cast<double>(recip_index * b0);
|
||
const double l_fp = static_cast<double>(recip_index * c0);
|
||
|
||
const double h = std::round(h_fp);
|
||
const double k = std::round(k_fp);
|
||
const double l = std::round(l_fp);
|
||
|
||
const double norm_sq =
|
||
(h - h_fp) * (h - h_fp) +
|
||
(k - k_fp) * (k - k_fp) +
|
||
(l - l_fp) * (l - l_fp);
|
||
|
||
if (norm_sq > static_cast<double>(tol_sq))
|
||
continue;
|
||
|
||
// s_obs must be in the same reference frame as the
|
||
// predicted reciprocal vector (h·a* + k·b* + l·c*), which is the
|
||
// phi=0 crystal frame. Apply the same goniometer back-rotation
|
||
// that was used above for the HKL assignment.
|
||
Coord s_obs = data.geom.DetectorToRecip(pt.x, pt.y);
|
||
if (data.axis.has_value())
|
||
s_obs = data.axis->GetTransformationAngle(pt.phi) * s_obs;
|
||
|
||
auto *cost =
|
||
new ceres::AutoDiffCostFunction<XtalResidualRotationOnlyPrecomp, 3, 3>(
|
||
new XtalResidualRotationOnlyPrecomp(s_obs, data.latt, h, k, l)
|
||
);
|
||
|
||
problem.AddResidualBlock(cost, nullptr, rot_aa);
|
||
}
|
||
|
||
if (problem.NumResidualBlocks() < data.min_spots)
|
||
return false;
|
||
|
||
// Regularization: prefer the smallest rotation correction that fits the
|
||
// data. This is essential when spots are nearly coplanar in reciprocal
|
||
// space (e.g. still images), where the rotation component perpendicular
|
||
// to the scattering plane is otherwise underdetermined.
|
||
// The weight is in Å⁻¹ rad⁻¹; tune relative to your typical residual.
|
||
{
|
||
const double reg_weight = 0.05; // e.g. 0.05
|
||
problem.AddResidualBlock(
|
||
new ceres::AutoDiffCostFunction<RotationNormRegularizer, 3, 3>(
|
||
new RotationNormRegularizer(reg_weight)),
|
||
nullptr, rot_aa);
|
||
}
|
||
|
||
ceres::Solver::Options options;
|
||
options.linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY; // tall and thin, as above
|
||
options.minimizer_progress_to_stdout = false;
|
||
if (data.max_iterations > 0)
|
||
options.max_num_iterations = data.max_iterations;
|
||
else
|
||
options.max_solver_time_in_seconds = data.max_time;
|
||
options.logging_type = ceres::LoggingType::SILENT;
|
||
options.num_threads = 1;
|
||
|
||
ceres::Solver::Summary summary;
|
||
ceres::Solve(options, &problem, &summary);
|
||
|
||
if (!summary.IsSolutionUsable())
|
||
return false;
|
||
|
||
// Apply rotation to direct-lattice vectors.
|
||
// ceres::AngleAxisToRotationMatrix writes a **row-major** 3×3 matrix,
|
||
// and Eigen's << operator also fills row-by-row, so the assignment
|
||
// below is correct without any transposing.
|
||
//
|
||
// Note: for a pure orthogonal rotation R, R⁻ᵀ = R, so rotating the
|
||
// direct-lattice vectors (A, B, C) by R is exactly equivalent to
|
||
// rotating the reciprocal vectors (a*, b*, c*) by the same R. No
|
||
// transpose or inversion of R is needed here.
|
||
double R_raw[9];
|
||
ceres::AngleAxisToRotationMatrix(rot_aa, R_raw); // row-major 3x3
|
||
|
||
Eigen::Matrix3d R;
|
||
R << R_raw[0], R_raw[3], R_raw[6],
|
||
R_raw[1], R_raw[4], R_raw[7],
|
||
R_raw[2], R_raw[5], R_raw[8];
|
||
|
||
const Eigen::Vector3d A(a0.x, a0.y, a0.z);
|
||
const Eigen::Vector3d B(b0.x, b0.y, b0.z);
|
||
const Eigen::Vector3d C(c0.x, c0.y, c0.z);
|
||
|
||
const Eigen::Vector3d A2 = R * A;
|
||
const Eigen::Vector3d B2 = R * B;
|
||
const Eigen::Vector3d C2 = R * C;
|
||
|
||
data.latt = CrystalLattice(
|
||
Coord(static_cast<float>(A2.x()), static_cast<float>(A2.y()), static_cast<float>(A2.z())),
|
||
Coord(static_cast<float>(B2.x()), static_cast<float>(B2.y()), static_cast<float>(B2.z())),
|
||
Coord(static_cast<float>(C2.x()), static_cast<float>(C2.y()), static_cast<float>(C2.z()))
|
||
);
|
||
|
||
double theta = std::sqrt(rot_aa[0] * rot_aa[0] + rot_aa[1] * rot_aa[1] + rot_aa[2] * rot_aa[2]);
|
||
data.angle_corr = theta;
|
||
if (theta > 1e-6) {
|
||
Coord rot;
|
||
rot.x = rot_aa[0] / theta;
|
||
rot.y = rot_aa[1] / theta;
|
||
rot.z = rot_aa[2] / theta;
|
||
data.angle_axis = rot;
|
||
} else
|
||
data.angle_axis.reset();
|
||
|
||
return true;
|
||
} catch (...) {
|
||
return false;
|
||
}
|
||
} |