feat: Ckf performance updates (#813)

* ckf performance studies

* adding cov inflation and changing min pT requirement

* removing SeedPerformance writer (leave for future PR)

* fixing clang-format for CommonOptions

Core/include/Acts/TrackFinding/MeasurementSelector.hpp

@@ -157,7 +157,7 @@ class MeasurementSelector {
     if (nFinalCandidates == 0) {
       measCandidateIndices.resize(1);
       measCandidateIndices.at(0) = minIndex;
-      ACTS_DEBUG("No measurement candidate. Return an outlier measurement.");
+      ACTS_VERBOSE("No measurement candidate. Return an outlier measurement.");
       isOutlier = true;
       return Result<void>::success();
     }

Examples/Algorithms/TrackFinding/include/ActsExamples/TrackFinding/TrackParamsEstimationAlgorithm.hpp

@@ -81,6 +81,8 @@ class TrackParamsEstimationAlgorithm final : public BareAlgorithm {
     double sigmaQOverP = 0.1 / Acts::UnitConstants::GeV;
     /// Time resolution.
     double sigmaT0 = 1400 * Acts::UnitConstants::s;
+    /// Inflate tracks
+    std::array<double, 6> initialVarInflation = {1., 1., 1., 1., 1., 1.};
   };
 
   /// Construct the track parameters making algorithm.

Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp

@@ -86,6 +86,9 @@ ActsExamples::ProcessCode ActsExamples::TrackFindingAlgorithm::execute(
     }
   }
 
+  ACTS_DEBUG("Finalized track finding with " << trajectories.size()
+                                             << " track candidates.");
+
   ctx.eventStore.add(m_cfg.outputTrajectories, std::move(trajectories));
   return ActsExamples::ProcessCode::SUCCESS;
 }

Examples/Algorithms/TrackFinding/src/TrackFindingOptions.cpp

@@ -9,6 +9,7 @@
 #include "ActsExamples/TrackFinding/TrackFindingOptions.hpp"
 
 #include "Acts/Geometry/GeometryIdentifier.hpp"
+#include "ActsExamples/Utilities/Options.hpp"
 
 #include <string>
 
@@ -24,6 +25,10 @@ void ActsExamples::Options::addTrackFindingOptions(
   opt("ckf-selection-nmax", value<size_t>()->default_value(10),
       "Global criteria of maximum number of measurement candidates on a "
       "surface for CKF measurement selection");
+  opt("ckf-initial-variance-inflation",
+      value<Reals<6>>()->default_value({{1., 1., 1., 1., 1., 1.}}),
+      "Inflation factor for the initial variances in the CKF search, must be "
+      "of form i:j:k:l:m:n.");
 }
 
 ActsExamples::TrackFindingAlgorithm::Config

Examples/Algorithms/TrackFinding/src/TrackParamsEstimationAlgorithm.cpp

@@ -51,17 +51,23 @@ ActsExamples::TrackParamsEstimationAlgorithm::TrackParamsEstimationAlgorithm(
 
   // Set up the track parameters covariance (the same for all tracks)
   m_covariance(Acts::eBoundLoc0, Acts::eBoundLoc0) =
-      cfg.sigmaLoc0 * m_cfg.sigmaLoc0;
+      m_cfg.initialVarInflation[Acts::eBoundLoc0] * cfg.sigmaLoc0 *
+      m_cfg.sigmaLoc0;
   m_covariance(Acts::eBoundLoc1, Acts::eBoundLoc1) =
-      cfg.sigmaLoc1 * m_cfg.sigmaLoc1;
+      m_cfg.initialVarInflation[Acts::eBoundLoc1] * cfg.sigmaLoc1 *
+      m_cfg.sigmaLoc1;
   m_covariance(Acts::eBoundPhi, Acts::eBoundPhi) =
-      cfg.sigmaPhi * m_cfg.sigmaPhi;
+      m_cfg.initialVarInflation[Acts::eBoundPhi] * cfg.sigmaPhi *
+      m_cfg.sigmaPhi;
   m_covariance(Acts::eBoundTheta, Acts::eBoundTheta) =
-      cfg.sigmaTheta * m_cfg.sigmaTheta;
+      m_cfg.initialVarInflation[Acts::eBoundTheta] * cfg.sigmaTheta *
+      m_cfg.sigmaTheta;
   m_covariance(Acts::eBoundQOverP, Acts::eBoundQOverP) =
-      cfg.sigmaQOverP * m_cfg.sigmaQOverP;
+      m_cfg.initialVarInflation[Acts::eBoundQOverP] * cfg.sigmaQOverP *
+      m_cfg.sigmaQOverP;
   m_covariance(Acts::eBoundTime, Acts::eBoundTime) =
-      m_cfg.sigmaT0 * m_cfg.sigmaT0;
+      m_cfg.initialVarInflation[Acts::eBoundTime] * m_cfg.sigmaT0 *
+      m_cfg.sigmaT0;
 }
 
 ActsExamples::SimSeedContainer

Examples/Algorithms/TrackFitting/src/TrackFittingOptions.cpp

@@ -8,6 +8,8 @@
 
 #include "ActsExamples/TrackFitting/TrackFittingOptions.hpp"
 
+#include "ActsExamples/Utilities/Options.hpp"
+
 using namespace boost::program_options;
 
 void ActsExamples::Options::addFittingOptions(
@@ -22,4 +24,9 @@ void ActsExamples::Options::addFittingOptions(
                     "Correct for energyloss effects.");
   opt.add_options()("fit-pick-track", value<int>()->default_value(-1),
                     "Pick a single track by track number (-1 for all tracks)");
+  opt.add_options()(
+      "fit-initial-variance-inflation",
+      value<Reals<6>>()->default_value({{1., 1., 1., 1., 1., 1.}}),
+      "Inflation factor for the initial covariance for the Kalman filter, 6 "
+      "values are required in the form of i:j:k:l:m:n.");
 }

Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.cpp

@@ -87,12 +87,20 @@ ActsExamples::ProcessCode ActsExamples::ParticleSmearing::execute(
 
       // build the track covariance matrix using the smearing sigmas
       Acts::BoundSymMatrix cov = Acts::BoundSymMatrix::Zero();
-      cov(Acts::eBoundLoc0, Acts::eBoundLoc0) = sigmaD0 * sigmaD0;
-      cov(Acts::eBoundLoc1, Acts::eBoundLoc1) = sigmaZ0 * sigmaZ0;
-      cov(Acts::eBoundTime, Acts::eBoundTime) = sigmaT0 * sigmaT0;
-      cov(Acts::eBoundPhi, Acts::eBoundPhi) = sigmaPhi * sigmaPhi;
-      cov(Acts::eBoundTheta, Acts::eBoundTheta) = sigmaTheta * sigmaTheta;
-      cov(Acts::eBoundQOverP, Acts::eBoundQOverP) = sigmaQOverP * sigmaQOverP;
+      cov(Acts::eBoundLoc0, Acts::eBoundLoc0) =
+          m_cfg.initialVarInflation[Acts::eBoundLoc0] * sigmaD0 * sigmaD0;
+      cov(Acts::eBoundLoc1, Acts::eBoundLoc1) =
+          m_cfg.initialVarInflation[Acts::eBoundLoc1] * sigmaZ0 * sigmaZ0;
+      cov(Acts::eBoundTime, Acts::eBoundTime) =
+          m_cfg.initialVarInflation[Acts::eBoundTime] * sigmaT0 * sigmaT0;
+      cov(Acts::eBoundPhi, Acts::eBoundPhi) =
+          m_cfg.initialVarInflation[Acts::eBoundPhi] * sigmaPhi * sigmaPhi;
+      cov(Acts::eBoundTheta, Acts::eBoundTheta) =
+          m_cfg.initialVarInflation[Acts::eBoundTheta] * sigmaTheta *
+          sigmaTheta;
+      cov(Acts::eBoundQOverP, Acts::eBoundQOverP) =
+          m_cfg.initialVarInflation[Acts::eBoundQOverP] * sigmaQOverP *
+          sigmaQOverP;
 
       parameters.emplace_back(perigee, params, q, cov);
     }

Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.hpp

@@ -12,6 +12,7 @@
 #include "ActsExamples/Framework/BareAlgorithm.hpp"
 #include "ActsExamples/Framework/RandomNumbers.hpp"
 
+#include <array>
 #include <limits>
 #include <string>
 
@@ -48,6 +49,8 @@ class ParticleSmearing final : public BareAlgorithm {
     double sigmaTheta = 1 * Acts::UnitConstants::degree;
     /// Relative momentum resolution.
     double sigmaPRel = 0.001;
+    /// Inflate the initial covariance matrix
+    std::array<double, 6> initialVarInflation = {1., 1., 1., 1., 1., 1.};
     /// Random numbers service.
     std::shared_ptr<const RandomNumbers> randomNumbers = nullptr;
   };

Examples/Io/Root/include/ActsExamples/Io/Root/RootPropagationStepsWriter.hpp

@@ -9,7 +9,7 @@
 #pragma once
 
 #include "Acts/Propagator/detail/SteppingLogger.hpp"
-#include <ActsExamples/Framework/WriterT.hpp>
+#include "ActsExamples/Framework/WriterT.hpp"
 
 #include <mutex>
 

Examples/Run/Reconstruction/Common/RecCKFTracks.cpp

@@ -29,6 +29,7 @@
 #include "ActsExamples/TrackFinding/TrackFindingAlgorithm.hpp"
 #include "ActsExamples/TrackFinding/TrackFindingOptions.hpp"
 #include "ActsExamples/TrackFinding/TrackParamsEstimationAlgorithm.hpp"
+#include "ActsExamples/TrackFitting/TrackFittingOptions.hpp"
 #include "ActsExamples/TruthTracking/ParticleSmearing.hpp"
 #include "ActsExamples/TruthTracking/TruthSeedSelector.hpp"
 #include "ActsExamples/TruthTracking/TruthTrackFinder.hpp"
@@ -70,6 +71,7 @@ int runRecCKFTracks(int argc, char* argv[],
   Options::addOutputOptions(desc, OutputFormat::DirectoryOnly);
   detector->addOptions(desc);
   Options::addMagneticFieldOptions(desc);
+  Options::addFittingOptions(desc);
   Options::addTrackFindingOptions(desc);
   addRecCKFOptions(desc);
   Options::addDigitizationOptions(desc);
@@ -221,6 +223,9 @@ int runRecCKFTracks(int argc, char* argv[],
     paramsEstimationCfg.sigmaTheta = 0.02_degree;
     paramsEstimationCfg.sigmaQOverP = 0.1 / 1._GeV;
     paramsEstimationCfg.sigmaT0 = 1400._s;
+    paramsEstimationCfg.initialVarInflation =
+        vm["ckf-initial-variance-inflation"].template as<Options::Reals<6>>();
+
     sequencer.addAlgorithm(std::make_shared<TrackParamsEstimationAlgorithm>(
         paramsEstimationCfg, logLevel));
 
@@ -283,7 +288,7 @@ int runRecCKFTracks(int argc, char* argv[],
       digiCfg.outputMeasurementParticlesMap;
   // The bottom seed could be the first, second or third hits on the truth track
   perfWriterCfg.nMeasurementsMin = particleSelectorCfg.nHitsMin - 3;
-  perfWriterCfg.ptMin = 1_GeV;
+  perfWriterCfg.ptMin = 0.4_GeV;
   perfWriterCfg.outputDir = outputDir;
 #ifdef ACTS_PLUGIN_ONNX
   // Onnx plugin related options

Examples/Run/Reconstruction/Common/RecInput.cpp

@@ -30,6 +30,7 @@
 #include "ActsExamples/TrackFitting/TrackFittingOptions.hpp"
 #include "ActsExamples/TruthTracking/ParticleSmearing.hpp"
 #include "ActsExamples/TruthTracking/TruthTrackFinder.hpp"
+#include "ActsExamples/Utilities/Options.hpp"
 
 #include "RecInput.hpp"
 
@@ -125,6 +126,8 @@ ActsExamples::ParticleSmearing::Config setupParticleSmearing(
   particleSmearingCfg.sigmaTheta = 1_degree;
   particleSmearingCfg.sigmaPRel = 0.01;
   particleSmearingCfg.sigmaT0 = 1_ns;
+  particleSmearingCfg.initialVarInflation =
+      vars["fit-initial-variance-inflation"].template as<Options::Reals<6>>();
   sequencer.addAlgorithm(
       std::make_shared<ParticleSmearing>(particleSmearingCfg, logLevel));