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NHitSeedFinder.cpp
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NHitSeedFinder.cpp
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#include "NHitSeedFinder.h"
#include <cmath>
#include <iostream>
#include <algorithm>
#include <Eigen/LU>
#include <Eigen/Core>
using namespace std;
using namespace Eigen;
NHitSeedFinder::NHitSeedFinder(vector<float>& detrad, unsigned int n_phi,
unsigned int n_d, unsigned int n_k,
unsigned int n_dzdl, unsigned int n_z0,
HelixResolution& min_resolution,
HelixResolution& max_resolution, HelixRange& range) :
HelixHough(n_phi, n_d, n_k, n_dzdl, n_z0, min_resolution, max_resolution, range),
using_vertex(false),
vertex_sigma_xy(0.002),
vertex_sigma_z(0.005),
chi2_cut(3.),
seed_mode(4)
{
for(unsigned int i=0;i<detrad.size();++i)
{
detector_radii.push_back(detrad[i]);
}
}
void NHitSeedFinder::findTracks(vector<SimpleHit3D>& hits, vector<SimpleTrack3D>& tracks)
{
if(seed_mode == 4)
find4Tracks(hits,tracks);
if(seed_mode == 5)
find5Tracks(hits,tracks);
if(seed_mode == 6)
find6Tracks(hits,tracks);
}
void NHitSeedFinder::find4Tracks(vector<SimpleHit3D>& hits, vector<SimpleTrack3D>& tracks)
{
// loop over the provided hits
for(unsigned int i=0;i<hits.size();i++)
{
// if this index is not in our map
if( phis.find(hits[i].index) == phis.end() )
{
// calculate the phi now and insert into the map
phis.insert(make_pair(hits[i].index,atan2(hits[i].y,hits[i].x)));
}
}
vector<double> chi2_hits;
SimpleTrack3D temp_track;
temp_track.hits.resize(4, hits[0]);
for(unsigned int i1=0;i1<hits.size();++i1)
{
temp_track.hits[0] = hits[i1];
for(unsigned int i2=(i1+1);i2<hits.size();++i2)
{
if( hits[i2].layer == hits[i1].layer ) continue;
if( fabs( phis[hits[i2].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;
temp_track.hits[1] = hits[i2];
for(unsigned int i3=(i2+1);i3<hits.size();++i3)
{
if( hits[i3].layer == hits[i2].layer ) continue;
if( hits[i3].layer == hits[i1].layer ) continue;
if( fabs( phis[hits[i3].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i3].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;
temp_track.hits[2] = hits[i3];
for(unsigned int i4=(i3+1);i4<hits.size();++i4)
{
if( hits[i4].layer == hits[i3].layer ) continue;
if( hits[i4].layer == hits[i2].layer ) continue;
if( hits[i4].layer == hits[i1].layer ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i3].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;
temp_track.hits[3] = hits[i4];
// build track
vector<unsigned int> tempcomb;
tempcomb.assign(4,0);
tempcomb[0] = temp_track.hits[0].index;
tempcomb[1] = temp_track.hits[1].index;
tempcomb[2] = temp_track.hits[2].index;
tempcomb[3] = temp_track.hits[3].index;
// check this combo has already been seen
sort(tempcomb.begin(), tempcomb.end());
set<vector<unsigned int> >::iterator it = combos.find(tempcomb);
if(it != combos.end()) continue;
// add to list of checked combinations
combos.insert(tempcomb);
// fit track
double chi2 = fitTrack(temp_track, chi2_hits);
if(chi2 > chi2_cut) continue;
// add track
tracks.push_back(temp_track);
}
}
}
}
}
void NHitSeedFinder::find5Tracks(vector<SimpleHit3D>& hits, vector<SimpleTrack3D>& tracks)
{//cout<<"find6Tracks Entered with "<<hits.size()<<" hits"<<endl;
// loop over the provided hits
for(unsigned int i=0;i<hits.size();i++)
{
// if this index is not in our map
if( phis.find(hits[i].index) == phis.end() )
{
// calculate the phi now and insert into the map
phis.insert(make_pair(hits[i].index,atan2(hits[i].y,hits[i].x)));
}
}
vector<double> chi2_hits;
SimpleTrack3D temp_track;
temp_track.hits.resize(5, hits[0]);
for(unsigned int i1=0;i1<hits.size();++i1)
{
temp_track.hits[0] = hits[i1];
for(unsigned int i2=(i1+1);i2<hits.size();++i2)
{
if( hits[i2].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i3].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i3].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[1] = hits[i2];
for(unsigned int i3=(i2+1);i3<hits.size();++i3)
{
if( hits[i3].layer == hits[i2].layer ) continue;
if( hits[i3].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i4].index] - phis[hits[i3].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[2] = hits[i3];
for(unsigned int i4=(i3+1);i4<hits.size();++i4)
{
if( hits[i4].layer == hits[i3].layer ) continue;
if( hits[i4].layer == hits[i2].layer ) continue;
if( hits[i4].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i5].index] - phis[hits[i4].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i5].index] - phis[hits[i3].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i5].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i5].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[3] = hits[i4];
for(unsigned int i5=(i4+1);i5<hits.size();++i5)
{
if( hits[i5].layer == hits[i4].layer ) continue;
if( hits[i5].layer == hits[i3].layer ) continue;
if( hits[i5].layer == hits[i2].layer ) continue;
if( hits[i5].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i5].index] - phis[hits[i4].index] ) > M_PI_2 ) continue; if( fabs( phis[hits[i5].index] - phis[hits[i3].index] ) > M_PI_2 ) continue; if( fabs( phis[hits[i5].index] - phis[hits[i2].index] ) > M_PI_2 ) continue; if( fabs( phis[hits[i5].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[4]= hits[i5];
// build track
vector<unsigned int> tempcomb;
tempcomb.assign(5,0);
tempcomb[0] = temp_track.hits[0].index;
tempcomb[1] = temp_track.hits[1].index;
tempcomb[2] = temp_track.hits[2].index;
tempcomb[3] = temp_track.hits[3].index;
tempcomb[4] = temp_track.hits[4].index;
// check this combo has already been seen
sort(tempcomb.begin(), tempcomb.end());
set<vector<unsigned int> >::iterator it = combos.find(tempcomb);
if(it != combos.end()) continue;
// add to list of checked combinations
combos.insert(tempcomb);
// fit track
double chi2 = fitTrack(temp_track, chi2_hits);
// cout <<"chi2 of seed track: "<<chi2<<endl;
if(chi2 > chi2_cut) continue;
// add track
tracks.push_back(temp_track);
}
}
}
}
}
}
void NHitSeedFinder::find6Tracks(vector<SimpleHit3D>& hits, vector<SimpleTrack3D>& tracks)
{
// cout << "find6Tracks Entered with " << hits.size()
// << " hits, ncombos: " << combos.size() << endl;
// loop over the provided hits
for(unsigned int i=0;i<hits.size();i++)
{
// if this index is not in our map
if( phis.find(hits[i].index) == phis.end() )
{
// calculate the phi now and insert into the map
phis.insert(make_pair(hits[i].index,atan2(hits[i].y,hits[i].x)));
}
}
vector<double> chi2_hits;
SimpleTrack3D temp_track;
temp_track.hits.resize(6, hits[0]);
for(unsigned int i1=0;i1<hits.size();++i1)
{
temp_track.hits[0] = hits[i1];
for(unsigned int i2=(i1+1);i2<hits.size();++i2)
{
if( hits[i2].layer == hits[i1].layer ) continue;
//if( fabs( phis[hits[i2].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;
temp_track.hits[1] = hits[i2];
for(unsigned int i3=(i2+1);i3<hits.size();++i3)
{
if( hits[i3].layer == hits[i2].layer ) continue;
if( hits[i3].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i3].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i3].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[2] = hits[i3];
for(unsigned int i4=(i3+1);i4<hits.size();++i4)
{
if( hits[i4].layer == hits[i3].layer ) continue;
if( hits[i4].layer == hits[i2].layer ) continue;
if( hits[i4].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i4].index] - phis[hits[i3].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i4].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[3] = hits[i4];
for(unsigned int i5=(i4+1);i5<hits.size();++i5)
{
if( hits[i5].layer == hits[i4].layer ) continue;
if( hits[i5].layer == hits[i3].layer ) continue;
if( hits[i5].layer == hits[i2].layer ) continue;
if( hits[i5].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i5].index] - phis[hits[i4].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i5].index] - phis[hits[i3].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i5].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i5].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[4] = hits[i5];
for(unsigned int i6=(i5+1);i6<hits.size();++i6)
{
if( hits[i6].layer == hits[i5].layer ) continue;
if( hits[i6].layer == hits[i4].layer ) continue;
if( hits[i6].layer == hits[i3].layer ) continue;
if( hits[i6].layer == hits[i2].layer ) continue;
if( hits[i6].layer == hits[i1].layer ) continue;
/* if( fabs( phis[hits[i6].index] - phis[hits[i5].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i6].index] - phis[hits[i4].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i6].index] - phis[hits[i3].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i6].index] - phis[hits[i2].index] ) > M_PI_2 ) continue;
if( fabs( phis[hits[i6].index] - phis[hits[i1].index] ) > M_PI_2 ) continue;*/
temp_track.hits[5] = hits[i6];
// build track
vector<unsigned int> tempcomb;
tempcomb.assign(6,0);
tempcomb[0] = temp_track.hits[0].index;
tempcomb[1] = temp_track.hits[1].index;
tempcomb[2] = temp_track.hits[2].index;
tempcomb[3] = temp_track.hits[3].index;
tempcomb[4] = temp_track.hits[4].index;
tempcomb[5] = temp_track.hits[5].index;
// check this combo has already been seen
sort(tempcomb.begin(), tempcomb.end());
set<vector<unsigned int> >::iterator it = combos.find(tempcomb);
if(it != combos.end()) {
//cout << "combo already used!" << endl;
continue;
}
// add to list of checked combinations
combos.insert(tempcomb);
// fit track
double chi2 = fitTrack(temp_track, chi2_hits);
//cout <<"chi2 of seed track: "<<chi2<<endl;
if(chi2 > chi2_cut) continue;
// add track
tracks.push_back(temp_track);
}
}
}
}
}
}
}
void NHitSeedFinder::finalize(vector<SimpleTrack3D>& input, vector<SimpleTrack3D>& output)
{
unsigned int nt = input.size();
for(unsigned int i=0;i<nt;++i)
{
output.push_back(input[i]);
}
}
double NHitSeedFinder::fitTrack(SimpleTrack3D& track, vector<double>& chi2_hit)
{
if(using_vertex == true)
{
track.hits.push_back(SimpleHit3D(0.,0., 0.,0., 0.,0., 0, 0));
}
chi2_hit.clear();
chi2_hit.resize(track.hits.size(), 0.);
MatrixXf y = MatrixXf::Zero(track.hits.size(), 1);
for(unsigned int i=0;i<track.hits.size();i++)
{
y(i, 0) = ( pow(track.hits[i].x,2) + pow(track.hits[i].y,2) );
if((using_vertex==true ) && (i == (track.hits.size() - 1))){y(i, 0) /= vertex_sigma_xy;}
else{y(i, 0) /= layer_xy_resolution[track.hits[i].layer];}
}
MatrixXf X = MatrixXf::Zero(track.hits.size(), 3);
for(unsigned int i=0;i<track.hits.size();i++)
{
X(i, 0) = track.hits[i].x;
X(i, 1) = track.hits[i].y;
X(i, 2) = -1.;
if((using_vertex==true ) && (i == (track.hits.size() - 1)))
{
X(i, 0) /= vertex_sigma_xy;
X(i, 1) /= vertex_sigma_xy;
X(i, 2) /= vertex_sigma_xy;
}
else
{
X(i, 0) /= layer_xy_resolution[track.hits[i].layer];
X(i, 1) /= layer_xy_resolution[track.hits[i].layer];
X(i, 2) /= layer_xy_resolution[track.hits[i].layer];
}
}
MatrixXf Xt = X.transpose();
MatrixXf prod = Xt*X;
MatrixXf inv = prod.fullPivLu().inverse();
MatrixXf beta = inv*Xt*y;
float cx = beta(0,0)*0.5;
float cy = beta(1,0)*0.5;
float r = sqrt(cx*cx + cy*cy - beta(2,0));
float phi = atan2(cy, cx);
float d = sqrt(cx*cx + cy*cy) - r;
float k = 1./r;
MatrixXf diff = y - (X*beta);
MatrixXf chi2 = (diff.transpose())*diff;
float dx = d*cos(phi);
float dy = d*sin(phi);
MatrixXf y2 = MatrixXf::Zero(track.hits.size(), 1);
for(unsigned int i=0;i<track.hits.size();i++)
{
y2(i,0) = track.hits[i].z;
if((using_vertex==true ) && (i == (track.hits.size() - 1))){y2(i, 0) /= vertex_sigma_z;}
else{y2(i, 0) /= layer_z_resolution[track.hits[i].layer];}
}
MatrixXf X2 = MatrixXf::Zero(track.hits.size(), 2);
for(unsigned int i=0;i<track.hits.size();i++)
{
float D = sqrt( pow(dx - track.hits[i].x, 2) + pow(dy - track.hits[i].y,2));
float s = 0.0;
if(0.5*k*D > 0.1)
{
float v = 0.5*k*D;
if(v >= 0.999999){v = 0.999999;}
s = 2.*asin(v)/k;
}
else
{
float temp1 = k*D*0.5;temp1*=temp1;
float temp2 = D*0.5;
s += 2.*temp2;
temp2*=temp1;
s += temp2/3.;
temp2*=temp1;
s += (3./20.)*temp2;
temp2*=temp1;
s += (5./56.)*temp2;
}
X2(i,0) = s;
X2(i,1) = 1.0;
if((using_vertex==true ) && (i == (track.hits.size() - 1)))
{
X2(i, 0) /= vertex_sigma_z;
X2(i, 1) /= vertex_sigma_z;
}
else
{
X2(i, 0) /= layer_z_resolution[track.hits[i].layer];
X2(i, 1) /= layer_z_resolution[track.hits[i].layer];
}
}
MatrixXf Xt2 = X2.transpose();
MatrixXf prod2 = Xt2*X2;
MatrixXf inv2 = prod2.fullPivLu().inverse();
MatrixXf beta2 = inv2*Xt2*y2;
MatrixXf diff2 = y2 - (X2*beta2);
MatrixXf chi2_z = (diff2.transpose())*diff2;
float z0 = beta2(1,0);
float dzdl = beta2(0,0)/sqrt(1. + beta2(0,0)*beta2(0,0));
track.phi = phi;
track.d = d;
track.kappa = k;
track.dzdl = dzdl;
track.z0 = z0;
if(track.kappa!=0.)
{
r=1./track.kappa;
}
else
{
r=1.0e10;
}
cx = (track.d+r)*cos(track.phi);
cy = (track.d+r)*sin(track.phi);
float chi2_tot = 0.;
for(unsigned int h=0;h<track.hits.size();h++)
{
float dx1 = track.hits[h].x - cx;
float dy1 = track.hits[h].y - cy;
float dx2 = track.hits[h].x + cx;
float dy2 = track.hits[h].y + cy;
float xydiff1 = sqrt(dx1*dx1 + dy1*dy1) - r;
float xydiff2 = sqrt(dx2*dx2 + dy2*dy2) - r;
float xydiff = xydiff2;
if(fabs(xydiff1) < fabs(xydiff2)){ xydiff = xydiff1; }
float ls_xy = layer_xy_resolution[track.hits[h].layer];
if((using_vertex == true) && (h == (track.hits.size() - 1)))
{
ls_xy = vertex_sigma_xy;
}
chi2_hit[h] = 0.;
chi2_hit[h] += xydiff*xydiff/(ls_xy*ls_xy);
chi2_hit[h] += diff2(h,0)*diff2(h,0);
chi2_tot += chi2_hit[h];
}
unsigned int deg_of_freedom = 2*track.hits.size() - 5;
if(using_vertex == true)
{
track.hits.pop_back();
chi2_hit.pop_back();
}
return (chi2_tot)/((double)(deg_of_freedom));
}