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temp.cpp
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temp.cpp
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int returnDirection(double prev, double cur){
double diff = cur - prev;
int dir;
if (diff > 1.)
dir = 1;
else if (diff < -1.)
dir = -1;
else
dir = 0;
return dir;
}
int fitnextId(std::vector<double> &x, std::vector<double> &y, std::vector<double> &next, GridNode *goodNode, int method){
if(method == 0){ // linear
} else if(method == 1){ // quadratic
int xDir = returnDirection( x[x.size()-2], x[x.size()-1]);
int yDir = returnDirection( y[y.size()-2], y[y.size()-1]);
debug("We are going in x dir %d and y dir %d", xDir, yDir);
double minDist = std::numeric_limits<double>::max();
int goodId = -1;
GridNode *goodNode;
std::vector<double> p;
p.push_back(0.);
for (int i = 0; i < x.size() - 1; i++){
double newval = p[i] + sqrt(pow(x[i+1]-x[i],2.) + pow(y[i+1]-y[i],2.));
p.push_back(newval);
// debug("%lf, %lf", p[i+1]);
}
double *x_coef = polyFit(p, x);
double *y_coef = polyFit(p, y);
for (int i = 0; i <next.size(); i++){
int curId = next[i];
int curIdx = gr.Find(curId);
GridNode &node = Ingrid[curIdx];
double xdet = (double) node.m_xDet;
double ydet = (double) node.m_yDet;
double newx_coef[3] = {x_coef[0] - xdet, x_coef[1], x_coef[2]};
double newy_coef[3] = {y_coef[0] - ydet, y_coef[1], y_coef[2]};
double vectortanx[3] = {x_coef[1], 2*x_coef[2], 0.};
double vectortany[3] = {y_coef[1], 2*y_coef[2], 0.};
double d[4] = {newx_coef[0]*vectortanx[0] + newy_coef[0]*vectortany[0],
newx_coef[0]*vectortanx[1] + newx_coef[1]*vectortanx[0] +
newy_coef[0]*vectortany[1] + newy_coef[1]*vectortany[0],
newx_coef[0]*vectortanx[2] + newx_coef[1]*vectortanx[1] + newx_coef[2]*vectortanx[0] +
newy_coef[0]*vectortany[2] + newy_coef[1]*vectortany[1] + newy_coef[2]*vectortany[0],
newx_coef[2]*vectortanx[1] + newy_coef[2]*vectortany[1]};
double x0[3];
int nroot = gsl_poly_solve_cubic(d[2]/d[3], d[1]/d[3], d[0]/d[3], x0, x0+1, x0+2);
//debug("Polynomial coeff : %lf + %lf x + %lf x^2 + %lf x^3", d[0], d[1], d[2], d[3]);
// debug("Real roots %d : x1 = %lf x2 = %lf x3 = %lf \n\n", nroot, x0[0], x0[1], x0[2]);
double xIntersect, yIntersect, currDist;
if(nroot ==1){
xIntersect = gsl_poly_eval(x_coef, 3, x0[0]);
yIntersect = gsl_poly_eval(y_coef, 3, x0[0]);
currDist = sqrt(pow(xIntersect - xdet,2) + pow(yIntersect - ydet,2));
}
for (int j = 0; j < nroot; j++){
double newx = gsl_poly_eval(x_coef, 3, x0[j]);
double newy = gsl_poly_eval(y_coef, 3, x0[j]);
double newdist = sqrt(pow(newx - xdet,2) + pow(newy - ydet,2));
if(j == 0){
xIntersect = newx;
yIntersect = newy;
currDist = newdist;
} else if( currDist > newdist) {
xIntersect = newx;
yIntersect = newy;
currDist = newdist;
}
}
debug("Distance between point %d and fit is %lf", curId, currDist);
double disttube = distanceBetweenTube(node, lastNode);
debug("Tube Distance to point %d is %lf",curId, disttube);
int xDir = returnDirection( x[x.size()-1], xdet);
int yDir = returnDirection( y[y.size()-1], ydet);
debug("This node is in x dir %d and y dir %d", newxdir, newydir);
if(minDist > currDist){
if(labs(newxdir - xdir) > 1 || labs(newydir - ydir) > 1){
debug("Let's avoid going back if we can");
} else{
minDist = currDist;
goodId = curId;
goodNode = &node;
}
}
} // FOR RIGHT NEIGHBORS
}
info("The good id is %d, and is at distance %lf", goodId, minDist);
return goodId;
}
void fitZCoordinates(CoordGrid &hitMap, PathCandidate *trk)
{
dbgtrkz("Re-determining the z coordinates for the track", trk->m_id);
// MVD list of available elements in the graph.
// std::vector< GridNode > &MVDPoints = hitMap.m_MVD_grid;
//
// STT lists of elements available in the graph.
std::vector< GridNode > &Ingrid = hitMap.m_grid;
// Local variables
std::set<int>::iterator stt_It;
// Track (Connected components) )loop
// Current track object std::vector<double> z = std::vector<double>( trk->m_z );
std::vector<double> &x = trk->m_x;
std::vector<double> &y = trk->m_y;
std::vector<double> &z = trk->m_z;
std::vector<int> const *vect = trk->m_memberList;
// Fnd the most outer virtual node or the max Z
// size_t maxLayer = std::numeric_limits<size_t>::min();
// float maxVirtZVal = std::numeric_limits<float>::min();
//float lastVirtualZCoord = 0.00;
for( size_t i = 0; i < z.size(); i++){
printf("%d, %lf \t", vect->at(i), z[i]);
}
printf("\n");
std::vector<GridNode*> virt;
std::vector<GridNode*> prevLayer;
std::vector<GridNode*> nextLayer;
std::vector<GridNode*> interLayer1;
std::vector<GridNode*> interLayer2;
int detect = 0;
int idxFirstVirt = 0, idxFirstSkewed;
double xvirtfirst = 0, yvirtfirst = 0, zvirtfirst = 0;
double xvirtsecond = 0, yvirtsecond = 0, zvirtsecond = 0;
double lastx=0, lasty =0;
GridNode Dummy_coord;
for(size_t i = 0; i < vect->size(); i++){
int nodeID = vect->at(i);
size_t node_index = hitMap.Find(nodeID);
GridNode *node = &Ingrid[node_index];
if( detect < 2 && node->m_type == GridNode::VIRTUAL_NODE) {
virt.push_back(node);
int curId = node->m_neighbors[0];
size_t curIdx = hitMap.Find(curId);
GridNode *curNode = &Ingrid[curIdx];
lastx = curNode->m_x;
lasty = curNode->m_y;
if(curNode->m_type == GridNode::STT_TYPE_SKEW){
curId = node->m_neighbors[1];
curIdx = hitMap.Find(curId);
curNode = &Ingrid[curIdx];
lastx = curNode->m_x;
lasty = curNode->m_y;
}
if(detect == 0){
idxFirstVirt = i;
// prevLayer.push_back(prevnode);
// nextLayer.push_back(nextnode);
detect = 1;
}
}
else if(detect == 1){
dbgtrkz("Number of virtual nodes found %d", virt.size());
for(size_t j = 0; j< virt.size(); j++){
xvirtfirst += virt[j]->m_x;
yvirtfirst += virt[j]->m_y;
zvirtfirst += virt[j]->m_z_Det;
}
xvirtfirst /= virt.size();
yvirtfirst /= virt.size();
zvirtfirst /= virt.size();
//xvirtfirst = (x[i] + lastx)/2.0;
//yvirtfirst = (y[i] + lasty)/2.0;
dbgtrkz("average coord of virt layer %lf %lf", xvirtfirst, yvirtfirst);
for(size_t j = idxFirstVirt; j < idxFirstVirt + virt.size(); j++){
x[j] = xvirtfirst;
y[j] = yvirtfirst;
z[j] = zvirtfirst;
}
virt.clear();
// interLayer1.insert(insertLayer1.end(), nextLayer->begin(), nextLayer->end());
//nextLayer.clear();
interLayer1.push_back(node);
idxFirstSkewed = i;
dbgtrkz("Adding %d on interlayer 1",node->m_detID);
detect = 2;
} else if(detect == 2 && node->m_type != GridNode::VIRTUAL_NODE){
if (node->m_Layer == interLayer1[0]->m_Layer && !(std::find(std::begin(interLayer1), std::end(interLayer1), node) != std::end(interLayer1))) {
interLayer1.push_back(node);
dbgtrkz("Adding %d on interlayer 1",node->m_detID);
} else if (labs(node->m_Layer - interLayer1[0]->m_Layer)<2) {
interLayer2.push_back(node);
dbgtrkz("Adding %d on interlayer 2",node->m_detID);
} else {
dbgtrkz("We are missing a virtual for %d",node->m_detID);
GridNode tubeA = *(interLayer2.back());
GridNode tubeB = *(node);
info("%d %d", tubeA.m_detID , tubeB.m_detID);
IntersectionPoint(hitMap, tubeA, tubeB, Dummy_coord);
Dummy_coord.m_detID = 100000;
dbgtrkz("Dummy_coord %d",Dummy_coord.m_detID );
std::pair<float, float> r_Theta;
float theta_deg = Cartesian_To_Polar(Dummy_coord.m_xDet, Dummy_coord.m_yDet, r_Theta);
Dummy_coord.m_r = r_Theta.first;
Dummy_coord.m_thetaDeg = theta_deg;
xvirtsecond = Dummy_coord.m_x;
yvirtsecond = Dummy_coord.m_y;
zvirtsecond = Dummy_coord.m_z;
idxFirstVirt = -1;
detect=3;
i--;
virt.push_back(&Dummy_coord);
// interLayer2.push_back(node);// to remove
}
} else if(detect == 2 && node->m_type == GridNode::VIRTUAL_NODE){
idxFirstVirt = i;
virt.push_back(node);
detect = 3;
lastx = x[i-1];
lasty = y[i-1];
} else if(detect == 3 && node->m_type == GridNode::VIRTUAL_NODE){
virt.push_back(node);
} else if(detect == 3 && node->m_type != GridNode::VIRTUAL_NODE){
dbgtrkz("We have the intermediate layer. 1 %d, 2 %d, virtual further %d", interLayer1.size(), interLayer2.size(), virt.size());
if(idxFirstVirt != -1){
for(size_t j = 0; j< virt.size(); j++){
xvirtsecond += virt[j]->m_x;
yvirtsecond += virt[j]->m_y;
zvirtsecond += virt[j]->m_z_Det;
}
xvirtsecond /= virt.size();
yvirtsecond /= virt.size();
zvirtsecond /= virt.size();
//xvirtsecond = (x[i] + lastx)/2.0;
//yvirtsecond = (y[i] + lasty)/2.0;
for(size_t j = idxFirstVirt; j < idxFirstVirt + virt.size(); j++){
x[j] = xvirtsecond;
y[j] = yvirtsecond;
z[j] = zvirtsecond;
}
}
virt.clear();
dbgtrkz("Virt point 1 %lf %lf %lf \n virt point 2 %lf, %lf, %lf", xvirtfirst, yvirtfirst, zvirtfirst,xvirtsecond, yvirtsecond, zvirtsecond);
if(interLayer1.size() <= 3 ){
double layerX = interLayer1[0]->m_x, layerY= interLayer1[0]->m_y, layerZ =interLayer1[0]->m_z ;
TVector3 dir = interLayer1[0]->m_WireDirection;
double hl = interLayer1[0]->m_halfLength;
if(interLayer1.size() > 1){
for(size_t j = 1; j < interLayer1.size(); j++){
layerX += interLayer1[j]->m_x;
layerY += interLayer1[j]->m_y;
layerZ += interLayer1[j]->m_z;
}
layerX /= interLayer1.size();
layerY /= interLayer1.size();
layerZ /= interLayer1.size();
}
// debug(" Start x1 %lf, end x1 %lf, start y1 %lf, end y 1 %lf", layerX - hl*dir[0], layerX + hl*dir[0], layerY - hl*dir[1], layerY + hl*dir[1]);
double coef = IntersectionXY(layerX - hl*dir[0], layerX + hl*dir[0], layerY - hl*dir[1], layerY + hl*dir[1], xvirtfirst,xvirtsecond ,yvirtfirst, yvirtsecond);
double newX = (1.0-coef) * (layerX - hl*dir[0]) + coef * (layerX + hl*dir[0]);
double newY = (1.0-coef) * (layerY - hl*dir[1]) + coef * (layerY + hl*dir[1]);
double newZ = (1.0-coef) * (layerZ - hl*dir[2]) + coef * (layerZ + hl*dir[2]);
dbgtrkz("Coef %lf, Intersection point on layer 1 is %lf, %lf, %lf", coef, newX, newY, newZ);
double diffX = newX - layerX;
double diffY = newY - layerY;
double diffZ = newZ - layerZ;
for(size_t j = idxFirstSkewed, k =0; j < idxFirstSkewed + interLayer1.size(); j++, k++){
x[j] = interLayer1[k]->m_x + diffX;
y[j] = interLayer1[k]->m_y + diffY;
z[j] = newZ;
interLayer1[k]->m_z_Det = newZ;
dbgtrkz("Node %d has new coord %lf, %lf %lf", vect->at(j), x[j], y[j], z[j]);
}
if(interLayer2.size()> 0){
layerX = interLayer2[0]->m_x;
layerY = interLayer2[0]->m_y;
layerZ = interLayer2[0]->m_z;
dir = interLayer2[0]->m_WireDirection;
hl = interLayer2[0]->m_halfLength;
if(interLayer2.size()> 1){
for(size_t j = 1; j < interLayer2.size(); j++){
layerX += interLayer2[j]->m_x;
layerY += interLayer2[j]->m_y;
layerZ += interLayer2[j]->m_z;
}
layerX /= interLayer2.size();
layerY /= interLayer2.size();
layerZ /= interLayer2.size();
}
coef = IntersectionXY(layerX - hl*dir[0], layerX + hl*dir[0], layerY - hl*dir[1], layerY + hl*dir[1], xvirtfirst,xvirtsecond ,yvirtfirst, yvirtsecond);
newX = (1.0-coef) * (layerX - hl*dir[0]) + coef * (layerX + hl*dir[0]);
newY = (1.0-coef) * (layerY - hl*dir[1]) + coef * (layerY + hl*dir[1]);
newZ = (1.0-coef) * (layerZ - hl*dir[2]) + coef * (layerZ + hl*dir[2]);
dbgtrkz("Coef %lf, Intersection point on layer 2 is %lf, %lf, %lf", coef, newX, newY, newZ);
diffX = newX - layerX;
diffY = newY - layerY;
diffZ = newZ - layerZ;
for(size_t j = idxFirstSkewed+interLayer1.size(), k =0; j < idxFirstSkewed +interLayer1.size()+ interLayer2.size(); j++, k++){
x[j] = interLayer2[k]->m_x + diffX;
y[j] = interLayer2[k]->m_y + diffY;
z[j] = newZ;
interLayer2[k]->m_z_Det = newZ;
dbgtrkz("Node %d has new coord %lf, %lf %lf", vect->at(j), x[j], y[j], z[j]);
}
}
} else {
dbgtrkz("Ambiguous, too many nodes ?");
for(size_t j = idxFirstSkewed, k =0; j < idxFirstSkewed + interLayer1.size(); j++, k++){
x[j] = interLayer1[k]->m_x;
y[j] = interLayer1[k]->m_y;
z[j] = -1;
dbgtrkz("Node %d has new coord %lf, %lf %lf", vect->at(j), x[j], y[j], z[j]);
}
}
interLayer1.clear();
interLayer2.clear();
xvirtfirst = xvirtsecond;
yvirtfirst = yvirtsecond;
xvirtsecond = yvirtsecond = 0;
if(node->m_type != GridNode::STT_TYPE_SKEW){
dbgtrkz("Need to interpolate now\n\n");
break;
}
interLayer1.push_back(node);
dbgtrkz("Adding %d on interlayer 1",node->m_detID);
idxFirstSkewed = i;
detect = 2;
}
// END IF virtual
// Determine the largest Z value (Virtual node)
}
}
for(unsigned int l = 0; l < tracklets.size(); l++){ // Go for each tracklet
PathCandidate &curCand = *(tracklets[l]);
dbgfit("Track %d, status %d, length %d", curCand.m_id, curCand.m_finished,curCand.m_length);
if (curCand.m_finished == 3 || curCand.m_length < 5 ) continue;
int first = curCand.m_tailNode;
int firstIdx = gr.Find(first);
GridNode &firstNode = Ingrid[firstIdx];
int last = curCand.m_headNode;
int lastIdx = gr.Find(last);
GridNode &lastNode = Ingrid[lastIdx];
dbgfit("Tail node %d (num neigh %d), head node %d (num neigh %d)", first, curCand.m_tailNeigh.size(), last, curCand.m_headNeigh.size());
for(int k = 0; k < 2; k++){ // First Tail, then Head
int prevId = k == 1? curCand.m_headNode: curCand.m_tailNode;
//int curLayer = k == 1? lastNode.m_Layer: firstNode.m_Layer;
// int layerCurDiff;
GridNode *prevNode = k == 1? &lastNode: &firstNode;
std::vector<int> *curNeigh = k == 1? &(curCand.m_headNeigh): &(curCand.m_tailNeigh);
std::vector<unsigned int> *curMerge = k == 1? &(curCand.m_toMergeHead):&(curCand.m_toMergeTail);
std::vector<int> next;
if(curNeigh->size() == 0 && curMerge->size() > 0)
continue;
if (curCand.m_finished == 2){
// continue;
dbgfit("There is no neighbors, can we find some further");
dbgfit("Looking into %lu remaining nodes", activeId.size());
for(unsigned int n = 0; n < activeId.size(); ++n) {
int testID = activeId[n];
int testIdx = gr.Find(testID);
GridNode &testNode = Ingrid[testIdx];
float currDist =sqrt((prevNode->m_x - testNode.m_x) * (prevNode->m_x - testNode.m_x) +
(prevNode->m_y - testNode.m_y) * (prevNode->m_y - testNode.m_y));
if(currDist<5.){
curNeigh->push_back(testID);
dbgfit("Adding node %d to potential neighbors, into k %d", testID, k);
}
}
dbgfit("Looking into %lu tracklets", tracklets.size());
for(unsigned int n = 0; n < tracklets.size(); ++n) {
PathCandidate &testCand = *(tracklets[n]);
if (testCand.m_finished == 3 || n == l) continue;
int tailId = testCand.m_tailNode;
int tailIdx = gr.Find(tailId);
GridNode &tailNode = Ingrid[tailIdx];
int headId = testCand.m_headNode;
int headIdx = gr.Find(headId);
GridNode &headNode = Ingrid[headIdx];
GridNode Dummy;
double currDistTail = IntersectionPointSkePar(gr, *prevNode, tailNode, Dummy);//sqrt((prevNode->m_x - tailNode.m_x) * (prevNode->m_x - tailNode.m_x) +
// (prevNode->m_y - tailNode.m_y) * (prevNode->m_y - tailNode.m_y));
double currDistHead = IntersectionPointSkePar(gr, *prevNode, headNode, Dummy);//sqrt((prevNode->m_x - headNode.m_x) * (prevNode->m_x - headNode.m_x) +
//(prevNode->m_y - headNode.m_y) * (prevNode->m_y - headNode.m_y));
dbgfit("%d %f, %d %f", tailId, currDistTail, headId, currDistHead);
if(currDistTail < 5. || currDistHead < 5.){
if(currDistTail <= currDistHead){
curNeigh->push_back(tailId);
dbgfit("Adding node %d to potential neighborsl", tailId);
} else {
curNeigh->push_back(headId);
dbgfit("Adding node %d to potential neighbors of head", headId);
}
}
}
}
if(curNeigh->size() == 0){
dbgfit("No good candidate has been found");
continue;
}
k == 1? dbgfit("HEAD : Fitting next neighbors "): dbgfit("TAIL : Fitting next neighbors");
for(size_t i = 0; i < curNeigh->size(); i++){
int id = curNeigh->at(i);
int idx = gr.Find(id);
GridNode &node = Ingrid[idx];
if(node.m_type == GridNode::VIRTUAL_NODE){
// for (size_t j = 0; j < node.m_neighbors.size(); j++) {
// Remove second order neighbors from virtual
int neigh1 = node.m_neighbors[0];
int neigh2 = node.m_neighbors[1];
curNeigh->erase(std::remove(curNeigh->begin(), curNeigh->end(), neigh1), curNeigh->end());
curNeigh->erase(std::remove(curNeigh->begin(), curNeigh->end(), neigh2), curNeigh->end());
// }
}
}
next.insert(next.end(), curNeigh->begin(), curNeigh->end());
bool cond = next.size() > 0? true: false;
bool adding = true;
std::vector<int> virt;
std::vector<int> *trk = curCand.m_memberList;
int potCm = -1;
int id = k == 1? trk->at(trk->size() - 2) : 1;
int idx = gr.Find(id);
GridNode &node = Ingrid[idx];
while (cond){
GridNode *goodNode;
int goodId = fitNextId(gr, curCand, next, k);
if (goodId == -1) {
dbgfit("No good candidates have been found, stop");
dbgfit("Current cm %d: length is %d, tail node %d head node %d Min layer %d, Max layer %d. ", curCand.m_id, curCand.m_length, curCand.m_tailNode, curCand.m_headNode, curCand.m_minLayer, curCand.m_maxLayer);
if((curCand.m_minLayer == 0 && curCand.m_maxLayer > 21) || (firstNode.m_LayerLimit == 1 && lastNode.m_LayerLimit == 1)){
dbgfit("track goes through all layers or makes a loop, likily finished");
curCand.m_finished = 3;
} else {
curCand.m_finished = 2;
cond = false;
break;
}
}
int goodIdx = gr.Find(goodId);
goodNode = &Ingrid[goodIdx];
// Automatically add next neighbord if we just found a virtual node
if(goodNode->m_type == GridNode::VIRTUAL_NODE){
curCand.insertNewNode(gr,goodNode, k == 0? curCand.m_memberList->begin(): curCand.m_memberList->end());
visited[goodId] = 4;
int neighId = curCand.isInCandidate(goodNode->m_neighbors[0]) ? goodNode->m_neighbors[1]:goodNode->m_neighbors[0];
int neighIdx = gr.Find(neighId);
goodNode = &Ingrid[neighIdx];
dbgfit("We added a virtual node, also adding the next neighbord %d", neighId);
goodId = neighId;
}
if(visited[goodId] == 4 && !goodNode->m_LayerLimit ){
potCm = goodNode->m_cm[0];
const auto p = std::find_if(tracklets.begin(), tracklets.end(),
[potCm](const PathCandidate *obj){ return obj->m_id == potCm; } );
PathCandidate &neighCand = *(*p);
bool willMerge = neighCand.m_toMergeHead.size() == 0 && neighCand.m_toMergeTail.size() == 0?false:true;
/* for(int i = 0; i<tracklets.size(); i++){
if(sayYes[potCm][i] != 0)
willMerge = true;
}*/
// if(!willMerge){
std::vector<int>::iterator it = std::find((neighCand.m_memberList)->begin(), (neighCand.m_memberList)->end(), goodId);
int index = std::distance((neighCand.m_memberList)->begin(), it);
int id = neighCand.m_memberList->at(index);
int nextNeigh;
int dir = 0;
dbgfit("This node %d already belongs to a CM (%d), tail Node %d, and head Node %d", id, goodNode->m_cm[0],neighCand.m_tailNode,neighCand.m_headNode);
if (std::find(curCand.m_toMergeHead.begin(), curCand.m_toMergeHead.end(), goodNode->m_cm[0]) != curCand.m_toMergeHead.end() || std::find(curCand.m_toMergeTail.begin(), curCand.m_toMergeTail.end(), goodNode->m_cm[0]) != curCand.m_toMergeTail.end() ){
dbgfit("We were already planning to merge, then let's stop here");
break;
}
if(id != neighCand.m_headNode && id != neighCand.m_tailNode){
dbgfit("The index is neither the tail or the head, we should continue");
}else{
if(id == neighCand.m_headNode){
dbgfit("We will merge in the tail direction");
nextNeigh = index-1;
dir = k == 1? 3: 1; // head to head or tail to head
k == 1? curCand.m_toMergeHead.push_back(potCm): curCand.m_toMergeTail.push_back(potCm);
/* if((neighCand.m_toMergeHead).size() > 0){
dbgfit("WE WERE ALREADY MERGING IN THAT DIRECTION ?");
break;
}*/
neighCand.m_toMergeHead.push_back(curCand.m_id);
sayYes[curCand.m_id][potCm] = dir;
} else if ( id == neighCand.m_tailNode ) {
dbgfit("We will merge in the head direction");
nextNeigh= index+1;
dir = k == 1? 2: 0; // head to tail or tail to tail
k == 1? curCand.m_toMergeHead.push_back(potCm): curCand.m_toMergeTail.push_back(potCm);
/* if((neighCand.m_toMergeTail).size() > 0){
dbgfit("WE WERE ALREADY MERGING IN THAT DIRECTION ?");
break;
}*/
neighCand.m_toMergeTail.push_back(curCand.m_id);
sayYes[curCand.m_id][potCm] = dir;
}
float angle_r = returnAngle(prevNode->m_r, goodNode->m_r, neighCand.m_r[nextNeigh], (prevNode->m_thetaDeg+180.)/360., (goodNode->m_thetaDeg+180.)/360., (neighCand.m_theta[nextNeigh]+180.)/360.);
float angle_xy = returnAngle(prevNode->m_x, goodNode->m_x, neighCand.m_x[nextNeigh], prevNode->m_y, goodNode->m_y, neighCand.m_y[nextNeigh]);
dbgfit("Angle r track %f", angle_r);
dbgfit("Angle xy track %f", angle_xy);
break;
}
// // } else
// dbgfit("we did not merge because we were in the middle of an other track");
} // Visited good id 4
/*else {
debug("we must find which is the direction");
int currr = neighCand.m_r[index-1] - goodNode->m_r;
int prevr = goodNode->m_r - prevNode->m_r;
if((currr >= 0 && prevr >= 0) || (currr < 0 && prevr < 0)){
debug("Middle node, We are checking in the tail direction");
nextNeigh= index-1;
dir = k == 1? 3: 1; // head to head or tail to head
} else {
debug("Middle node, We are checking in the head direction");
nextNeigh= index+1;
dir = k == 1? 2: 0; // head to head or tail to head
}
}*/
/* if(potCm == goodNode->m_cm[0]){
debug("Two nodes in a row belong to the same cm %d, let's stop and merge them later", potCm);
cond = false;
const auto p = std::find_if(tracklets.begin(), tracklets.end(),
[potCm](const PathCandidate *obj){ return obj->m_id == potCm; } );
curCand.m_toMergeHead.push_back(potCm);
if(prevId == (*p)->m_headNode){
(*p)->m_toMergeHead.push_back(curCand.m_id);
debug("Merging head to head");
}
else if(prevId == (*p)->m_tailNode){
(*p)->m_toMergeTail.push_back(curCand.m_id);
debug("Merging head to tail");
}
else {
std::vector<int>::iterator it = std::find(((*p)->m_memberList)->begin(), ((*p)->m_memberList)->end(), prevId);
int index = std::distance(((*p)->m_memberList)->begin(), it);
if(index >= (tracklets[potCm]->m_memberList)->size()/2){
debug("Merging head to head (to check)");
( (*p)->m_toMergeHead).push_back(curCand.m_id) ;
} else{
debug("Merging head to tail (to check)");
( (*p)->m_toMergeTail).push_back(curCand.m_id);
}
}
break;
//visitedTracks[curCand.m_id] = 1;
// visitedTracks[potCm] = 1;
} else {
potCm = goodNode->m_cm[0];
} */
//else
// potCm = -1;
// goodIdx = gr.Find(goodId);
curCand.insertNewNode(gr, goodNode, k == 0? curCand.m_memberList->begin(): curCand.m_memberList->end());
visited[goodId] = 4;
// curLayer = goodNode->m_Layer;
next.clear();
for(size_t i = 0; i < goodNode->m_neighbors.size(); i++){
int neighId = goodNode->m_neighbors[i];
// debug("Node %d has one neig %d, visited %d", goodId, neighId, visited[neighId]);
if(curCand.isInCandidate(neighId)) continue;
int neighIdx = gr.Find(neighId);
GridNode *neighNode = &Ingrid[neighIdx];
next.push_back(neighId);
}// for neighbors
if(goodNode->parent != -1){
next.push_back(goodNode->parent);
dbgfit("Also adding this node %d", goodNode->parent );
}
if(next.size() > 0){
prevId = goodId;
prevNode = goodNode;
virt.clear();
if(goodNode->m_Layer == 0){
dbgfit("Reached end ?");
curCand.m_finished = 2;
cond = false;
}
}
else {
dbgfit("we have no more neighbors");
cond = false;
/*if(potCm != -1){
debug("Last node added belonged to a cm %d, let's see if we should merge them", potCm);
curCand.m_toMergeHead.push_back(potCm);
const auto p = std::find_if(tracklets.begin(), tracklets.end(), [potCm](const PathCandidate *obj){ return obj->m_id == potCm; } );
if(goodId == (*p)->m_headNode){
((*p)->m_toMergeHead).push_back(curCand.m_id);
debug("Merging head to head");
}
else if(goodId == (*p)->m_tailNode){
((*p)->m_toMergeTail).push_back(curCand.m_id);
debug("Merging head to tail");
}else{
std::vector<int>::iterator it = std::find(((*p)->m_memberList)->begin(), ((*p)->m_memberList)->end(), goodId);
int index = std::distance(((*p)->m_memberList)->begin(), it);
if(index >= ((*p)->m_memberList)->size()/2){
debug("Merging head to head (to check)");
((*p)->m_toMergeHead).push_back(curCand.m_id) ;
} else{
debug("Merging head to tail (to check)");
((*p)->m_toMergeTail).push_back(curCand.m_id) ;
}
}
// visitedTracks[curCand.m_id] = 1;
// visitedTracks[potCm] = 1;
} else {
info("No potential neighbors ?");
curCand.m_finished = 2;
}*/
} // next,size() == 0
// cond = false;
} // WHILE COND
} // for k 2
dbgfit("Finished with current tracklet, moving to next \n");
} // for k trackets
// timing("Fitting phase ended. Real time %f s, CPU time %f s.", timer.RealTime(),timer.CpuTime());
int determineSkewed_XYPlane_new( CoordGrid &hitMap, GridNode const &VNode,
std::vector<int> &ListOfSkewedNodesIndex,
std::vector<int> &ListOfVirtualNodesIndex, char *visited)
{
dbggrid("Correcting xy-coordinates of skewed nodes for this instance for node %d", VNode.m_detID);
// Fetch all graph nodes
std::vector< GridNode > &Ingrid = hitMap.m_grid;
// Neighbours of the input node
std::vector<int> const &ListOfNeighbors = VNode.m_neighbors;
// Local variables
int LastVirtualNodeIdx = -10;
std::pair<float, float> Rad_deg;
std::vector<int>::iterator FindIt;
PathQueue SkewedNodeIndexQueue;
// There are exactly 2 neighbours (different slopes). And there are
// two types of virtual nodes (Ax_Vi_Sk or Sk_Vi_S).
assert( ListOfNeighbors.size() == 2);
int FNode_id = ListOfNeighbors[0];//First ID
int FNode_index = hitMap.Find(FNode_id);//First index
GridNode &First_Neigh = Ingrid[FNode_index];
int SNode_id = ListOfNeighbors[1];//Second ID
int SNode_index = hitMap.Find(SNode_id);//Second Index
GridNode &Second_Neigh = Ingrid[SNode_index];
// All neighbours must be active
assert( First_Neigh.m_active && Second_Neigh.m_active );
size_t LocalCurrentLayer, LocalNextLayer;
LocalCurrentLayer = LocalNextLayer = 0;
//Axial->Virtual->Skewed
bool OuterToInner;
if( visited[FNode_id] < 4) {
SkewedNodeIndexQueue.inQueue(FNode_index);
LocalCurrentLayer = First_Neigh.m_Layer;
dbggrid("First node is %d, visited is %d, current layer %d", FNode_id,visited[FNode_id], LocalCurrentLayer);
OuterToInner = First_Neigh.m_Layer - Second_Neigh.m_Layer > 0 ? true : false;
}
else{
SkewedNodeIndexQueue.inQueue(SNode_index);
LocalCurrentLayer = Second_Neigh.m_Layer;
dbggrid("Second node is %d, visited is %d, current layer %d", SNode_id,visited[SNode_id], LocalCurrentLayer);
OuterToInner = Second_Neigh.m_Layer - First_Neigh.m_Layer > 0 ? true : false;
}
dbggrid("We go in %d direction (first %d, second %d)",OuterToInner, First_Neigh.m_Layer, Second_Neigh.m_Layer);
//LocalNextLayer = LocalCurrentLayer + 1;
if(OuterToInner){
if( LocalCurrentLayer > 0) {
LocalNextLayer = LocalCurrentLayer - 1;
}
else{
LocalNextLayer = 0;
}
}
else{// if( !OuterToInner) {// Inner to outer
LocalNextLayer = LocalCurrentLayer + 1;
}
// Process skewed node index queue
while( !SkewedNodeIndexQueue.isEmpty() ) {
int sk_idx = SkewedNodeIndexQueue.popFront();
GridNode &SK_Node = Ingrid[sk_idx];
FindIt = std::find(ListOfSkewedNodesIndex.begin(), ListOfSkewedNodesIndex.end(), sk_idx);
if( FindIt == ListOfSkewedNodesIndex.end() ) {
ListOfSkewedNodesIndex.push_back(sk_idx);
}
dbggrid("Starting with %d", SK_Node.m_detID);
// List of neighbours
std::vector<int> const &Neighbours = SK_Node.m_neighbors;
for( size_t l = 0; l < Neighbours.size(); ++l) {
int sknID = Neighbours[l];
int sknIdx = hitMap.Find(sknID);
GridNode &SK_NeighNode = Ingrid[sknIdx];
dbggrid("First neighbor is %d on layer %d", sknID, SK_NeighNode.m_Layer);
// Active and skewed
if( SK_NeighNode.m_type == GridNode::STT_TYPE_SKEW ) {
// Current or next layer
if( SK_NeighNode.m_Layer == LocalCurrentLayer ||
SK_NeighNode.m_Layer == LocalNextLayer ) {
dbggrid("Is skewed and on next layer");
FindIt = std::find(ListOfSkewedNodesIndex.begin(), ListOfSkewedNodesIndex.end(), sknIdx);
// Was not added before
if( FindIt == ListOfSkewedNodesIndex.end() ) {
SkewedNodeIndexQueue.inQueue(sknIdx);
ListOfSkewedNodesIndex.push_back(sknIdx);
}// End If not added before
}// Current or next layer
}// END if active and skewed.
// If neighbour node is a virtual node. We can start
// correcting and computing the orientations.
else if( SK_NeighNode.m_type == GridNode::VIRTUAL_NODE ) {
dbggrid("Is virtual and on next layer");
FindIt = std::find(ListOfVirtualNodesIndex.begin(), ListOfVirtualNodesIndex.end(), sknIdx);
if( (FindIt == ListOfVirtualNodesIndex.end()) && (sknID != VNode.m_detID) ) {
// Outer -> inner layer
if( (OuterToInner) && (SK_NeighNode.m_Layer <= SK_Node.m_Layer)) {
ListOfVirtualNodesIndex.push_back(sknIdx);
LastVirtualNodeIdx = sknIdx;
}
// Inner -> outer layer
if( (!OuterToInner) && (SK_NeighNode.m_Layer >= SK_Node.m_Layer)) {
ListOfVirtualNodesIndex.push_back(sknIdx);
LastVirtualNodeIdx = sknIdx;
}
}
}// END if active and virtual
}//END neighbour loop
}//END WHILE (SkewedNodeIndexQueue)
int lastVirtualID = -10;
if (LastVirtualNodeIdx >= 0) {
GridNode &LastVirtual_node = Ingrid[LastVirtualNodeIdx];
lastVirtualID = LastVirtual_node.m_detID;
/* A list of all skewed nodes between the two virtual nodes is
created by now and we can proceed with corrections of the
xy-coordinates. Determine the dx and dy between current node and
last virtual node.*/
float x_diff = fabs(VNode.m_x - LastVirtual_node.m_x);
float y_diff = fabs(VNode.m_y - LastVirtual_node.m_y);
x_diff /= static_cast<float>(ListOfSkewedNodesIndex.size()+1);
y_diff /= static_cast<float>(ListOfSkewedNodesIndex.size()+1);
if( VNode.m_x > LastVirtual_node.m_x ) {
x_diff *= -1;
}
if( VNode.m_y > LastVirtual_node.m_y ) {
y_diff *= -1;
}
////__________________ DEBUG PRINTS ______________________________________
dbggrid("ListOfSkewedNodesIndex %d, ListOfVirtualNodesIndex %d, x_diff %f, y_diff %f", ListOfSkewedNodesIndex.size(), ListOfVirtualNodesIndex.size(), x_diff, y_diff);
std::cout << " Starting from " << VNode.m_detID << "("<< VNode.m_Layer << "): ";
for(size_t v = 0; v < ListOfVirtualNodesIndex.size(); ++v) {
int indexof = ListOfVirtualNodesIndex[v];
GridNode const &Vnd = Ingrid[indexof];
std::cout << Vnd.m_detID << "("<< Vnd.m_Layer << "), ";
}
std::cout << " Last V_id = " << LastVirtual_node.m_detID << std::endl;
////__________________ DEBUG PRINTS ______________________________________
float xInc = VNode.m_x + x_diff;
float yInc = VNode.m_y + y_diff;
/* Correct xy-coordinates of the skewed nodes */
for(size_t m = 0; m < ListOfSkewedNodesIndex.size(); ++m) {
GridNode &skewedToproc = Ingrid[ListOfSkewedNodesIndex[m]];
skewedToproc.m_xDet = xInc;
skewedToproc.m_yDet = yInc;
xInc += x_diff;
yInc += y_diff;
}
}
/* Skewed nodes are pre-processed. RETURN*/
return(lastVirtualID);
}
// OLD detemrination of skewed nodes:
GridNode &anchorPrev = Ingrid[gr.Find(m_prevVirtuals[0])];
int layer = node->m_Layer;
if(m_prevVirtuals.size() > 1){
for(size_t p =1; p < m_prevVirtuals.size();p++){
anchorPrev.m_x += Ingrid[gr.Find(m_prevVirtuals[p])].m_x;
anchorPrev.m_y += Ingrid[gr.Find(m_prevVirtuals[p])].m_y;
anchorPrev.m_z += Ingrid[gr.Find(m_prevVirtuals[p])].m_z;
}
anchorPrev.m_x /= (float) m_prevVirtuals.size();
anchorPrev.m_y /= (float) m_prevVirtuals.size();
anchorPrev.m_z /= (float) m_prevVirtuals.size();
}
if(anchorPrev.m_Layer == layer){
// printf("Both virtuals are on same layers, better find something else\n");
} else{
// printf("Find nodes per layer\n");
std::vector<GridNode *> layerN1;
std::vector<GridNode *> layerN2;
int curLayer;
for(size_t p =0; p < m_listSkewed.size();p++){
if(p == 0)
curLayer = Ingrid[gr.Find(m_listSkewed[p])].m_Layer;
if(Ingrid[gr.Find(m_listSkewed[p])].m_Layer == curLayer){
// printf("Push %d on firt layer nodes\n", m_listSkewed[p]);
layerN1.push_back(&Ingrid[gr.Find(m_listSkewed[p])]);
} else if (labs(Ingrid[gr.Find(m_listSkewed[p])].m_Layer - curLayer) <2){
// printf("Push %d on second layer nodes\n", m_listSkewed[p]);
layerN2.push_back(&Ingrid[gr.Find(m_listSkewed[p])]);
} else {
// printf("We have a too large layer ???? \n");
}
}
GridNode anchorInter;
if(layerN1.size() > 0){
// printf("Correcting first layer\n");
anchorInter = *layerN1[0];
for (size_t p = 1; p < MIN(layerN1.size(),3); p++){
anchorInter.m_x += layerN1[p]->m_x;
anchorInter.m_y += layerN1[p]->m_y;
anchorInter.m_z += layerN1[p]->m_z;
}
anchorInter.m_x /= (float) MIN(layerN1.size(),3);//interNodesL1.size();
anchorInter.m_y /= (float) MIN(layerN1.size(),3);// interNodesL1.size();
anchorInter.m_z /= (float) MIN(layerN1.size(),3);//;interNodesL1.size();
// printf("Finding intersection with %f, %f, %f\n", anchorInter.m_x, anchorInter.m_y, anchorInter.m_z);
PointsLineIntersect( anchorInter, anchorPrev.m_x, node->m_xDet,
anchorPrev.m_y, node->m_yDet);