Track3Dreco_module.cc

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////////////////////////////////////////////////////////////////////////
//
// \file Track3Dreco.cxx
//
// maddalena.antonello@lngs.infn.it
// ornella.palamara@lngs.infn.it
// ART port and edits: soderber,echurch@fnal.gov
//  This algorithm is designed to reconstruct 3D tracks through a simple
//  2D-track matching algorithm
////////////////////////////////////////////////////////////////////////
#include "art/Framework/Core/EDProducer.h"

// C++ includes
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <string>
#include <vector>

// Framework includes
#include "art/Framework/Core/ModuleMacros.h"
#include "art/Framework/Principal/Event.h"
#include "art/Framework/Principal/Handle.h"
#include "art/Framework/Services/Registry/ServiceHandle.h"
#include "canvas/Persistency/Common/Ptr.h"
#include "canvas/Persistency/Common/PtrVector.h"
#include "fhiclcpp/ParameterSet.h"
#include "messagefacility/MessageLogger/MessageLogger.h"

// LArSoft includes
#include "canvas/Persistency/Common/FindManyP.h"
#include "larcore/Geometry/Geometry.h"
#include "larcorealg/Geometry/PlaneGeo.h"
#include "larcorealg/Geometry/WireGeo.h"
#include "lardata/DetectorInfoServices/DetectorPropertiesService.h"
#include "lardata/Utilities/AssociationUtil.h"
#include "lardataobj/RecoBase/Cluster.h"
#include "lardataobj/RecoBase/Hit.h"
#include "lardataobj/RecoBase/SpacePoint.h"
#include "lardataobj/RecoBase/Track.h"

// ROOT includes
#include "TF1.h"
#include "TGraph.h"
#include "TMath.h"
#include "TVector2.h"
#include "TVector3.h"

namespace trkf {

  class Track3Dreco : public art::EDProducer {
  public:
    explicit Track3Dreco(fhicl::ParameterSet const& pset);

  private:
    void produce(art::Event& evt) override;

    int ftmatch;                     ///< tolerance for time matching (in time samples)
    double fchi2dof;                 ///< tolerance for chi2/dof of cluster fit to function
    std::string fClusterModuleLabel; ///< label for input cluster collection
  };                                 // class Track3Dreco

}

namespace trkf {

  //-------------------------------------------------
  Track3Dreco::Track3Dreco(fhicl::ParameterSet const& pset) : EDProducer{pset}
  {
    fClusterModuleLabel = pset.get<std::string>("ClusterModuleLabel");
    ftmatch = pset.get<int>("TMatch");
    fchi2dof = pset.get<double>("Chi2DOFmax");

    produces<std::vector<recob::Track>>();
    produces<std::vector<recob::SpacePoint>>();
    produces<art::Assns<recob::Track, recob::Cluster>>();
    produces<art::Assns<recob::Track, recob::SpacePoint>>();
    produces<art::Assns<recob::SpacePoint, recob::Hit>>();
    produces<art::Assns<recob::Track, recob::Hit>>();
  }

  //------------------------------------------------------------------------------------//
  void
  Track3Dreco::produce(art::Event& evt)
  {
    art::ServiceHandle<geo::Geometry const> geom;
    auto const detProp =
      art::ServiceHandle<detinfo::DetectorPropertiesService const>()->DataFor(evt);

    auto tcol = std::make_unique<std::vector<recob::Track>>();
    auto spacepoints = std::make_unique<std::vector<recob::SpacePoint>>();
    auto cassn = std::make_unique<art::Assns<recob::Track, recob::Cluster>>();
    auto sassn = std::make_unique<art::Assns<recob::Track, recob::SpacePoint>>();
    auto shassn = std::make_unique<art::Assns<recob::SpacePoint, recob::Hit>>();
    auto hassn = std::make_unique<art::Assns<recob::Track, recob::Hit>>();

    // define TPC parameters
    TString tpcName = geom->GetLArTPCVolumeName();

    double YC = (geom->DetHalfHeight()) * 2.; // *ArgoNeuT* TPC active-volume height in cm
    double Angle = geom->Plane(1).Wire(0).ThetaZ(false) -
                   TMath::Pi() / 2.; // wire angle with respect to the vertical direction
    // Parameters temporary defined here, but possibly to be retrieved somewhere in the code
    double timetick = 0.198; //time sample in us
    double presamplings = 60.;
    const double wireShift =
      50.; // half the number of wires from the Induction(Collection) plane intersecting with a wire from the Collection(Induction) plane.
    double plane_pitch = geom->PlanePitch(0, 1); //wire plane pitch in cm
    double wire_pitch = geom->WirePitch();       //wire pitch in cm
    double Efield_drift = 0.5;                   // Electric Field in the drift region in kV/cm
    double Efield_SI = 0.7;    // Electric Field between Shield and Induction planes in kV/cm
    double Efield_IC = 0.9;    // Electric Field between Induction and Collection planes in kV/cm
    double Temperature = 87.6; // LAr Temperature in K

    double driftvelocity =
      detProp.DriftVelocity(Efield_drift, Temperature); //drift velocity in the drift
                                                        //region (cm/us)
    double driftvelocity_SI =
      detProp.DriftVelocity(Efield_SI, Temperature); //drift velocity between shield
                                                     //and induction (cm/us)
    double driftvelocity_IC =
      detProp.DriftVelocity(Efield_IC, Temperature);        //drift velocity between induction
                                                            //and collection (cm/us)
    double timepitch = driftvelocity * timetick;            //time sample (cm)
    double tSI = plane_pitch / driftvelocity_SI / timetick; //drift time between Shield and
                                                            //Collection planes (time samples)
    double tIC = plane_pitch / driftvelocity_IC / timetick; //drift time between Induction and
                                                            //Collection planes (time samples)

    // get input Cluster object(s).
    art::Handle<std::vector<recob::Cluster>> clusterListHandle;
    evt.getByLabel(fClusterModuleLabel, clusterListHandle);

    // Declare some vectors..
    // Induction
    std::vector<double> Iwirefirsts;      // in cm
    std::vector<double> Iwirelasts;       // in cm
    std::vector<double> Itimefirsts;      // in cm
    std::vector<double> Itimelasts;       // in cm
    std::vector<double> Itimefirsts_line; // in cm
    std::vector<double> Itimelasts_line;  // in cm
    std::vector<std::vector<art::Ptr<recob::Hit>>> IclusHitlists;
    std::vector<unsigned int> Icluster_count;

    // Collection
    std::vector<double> Cwirefirsts;      // in cm
    std::vector<double> Cwirelasts;       // in cm
    std::vector<double> Ctimefirsts;      // in cm
    std::vector<double> Ctimelasts;       // in cm
    std::vector<double> Ctimefirsts_line; // in cm
    std::vector<double> Ctimelasts_line;  // in cm
    std::vector<std::vector<art::Ptr<recob::Hit>>> CclusHitlists;
    std::vector<unsigned int> Ccluster_count;

    // Some variables for the hit
    float time;             //hit time at maximum
    unsigned int wire = 0;  //hit wire number
    unsigned int plane = 0; //hit plane number

    size_t startSPIndex =
      spacepoints->size(); //index for knowing which spacepoints are with which cluster
    size_t endSPIndex =
      spacepoints->size(); //index for knowing which spacepoints are with which cluster

    art::FindManyP<recob::Hit> fmh(clusterListHandle, evt, fClusterModuleLabel);

    for (size_t ii = 0; ii < clusterListHandle->size(); ++ii) {
      art::Ptr<recob::Cluster> cl(clusterListHandle, ii);

      /////////////////////////
      //////////// 2D track FIT
      /////////////////////////

      // Gaaaaaah! Change me soon!!! But, for now,
      // let's just chuck one plane's worth of info. EC, 30-Mar-2011.
      ///\todo: This is very bad practice and should be changed ASAP
      if (cl->View() == geo::kZ) continue;

      // Can not be const, cuz we're gonna sort 'em.
      std::vector<art::Ptr<recob::Hit>> hitlist(fmh.at(ii));

      if (hitlist.size() == 1)
        continue; //only one Hit in this Cluster...will cause TGraph fit to fail.

      // sort the hit list to be sure it is in the correct order
      // using the Hit < operator
      std::sort(hitlist.begin(), hitlist.end());

      TGraph* the2Dtrack = new TGraph(hitlist.size());

      std::vector<double> wires;
      std::vector<double> times;

      int np = 0;
      //loop over cluster hits
      for (art::PtrVector<recob::Hit>::const_iterator theHit = hitlist.begin();
           theHit != hitlist.end();
           theHit++) {
        //recover the Hit
        time = (*theHit)->PeakTime();

        time -= presamplings;

        plane = (*theHit)->WireID().Plane;
        wire = (*theHit)->WireID().Wire;

        //correct for the distance between wire planes
        if (plane == 1) time -= tIC; // Collection

        //transform hit wire and time into cm
        double wire_cm;
        if (plane == 0)
          wire_cm = (double)((wire + 3.95) * wire_pitch);
        else
          wire_cm = (double)((wire + 1.84) * wire_pitch);

        double time_cm;
        if (time > tSI)
          time_cm = (double)((time - tSI) * timepitch + tSI * driftvelocity_SI * timetick);
        else
          time_cm = time * driftvelocity_SI * timetick;

        wires.push_back(wire_cm);
        times.push_back(time_cm);

        the2Dtrack->SetPoint(np, wire_cm, time_cm);
        np++;
      } //end of loop over cluster hits

      // fit the 2Dtrack and get some info to store
      try {
        the2Dtrack->Fit("pol1", "Q");
      }
      catch (...) {
        mf::LogWarning("Track3Dreco") << "The 2D track fit failed";
        continue;
      }

      TF1* pol1 = (TF1*)the2Dtrack->GetFunction("pol1");
      double par[2];
      pol1->GetParameters(par);
      double intercept = par[0];
      double slope = par[1];

      double w0 = wires.front();               // first hit wire (cm)
      double w1 = wires.back();                // last hit wire (cm)
      double t0 = times.front();               // first hit time (cm)
      double t1 = times.back();                // last hit time (cm)
      double t0_line = intercept + (w0)*slope; // time coordinate at wire w0 on the fit line (cm)
      double t1_line = intercept + (w1)*slope; // time coordinate at wire w1 on the fit line (cm)

      // actually store the 2Dtrack info
      switch (plane) {
      case 0:
        Iwirefirsts.push_back(w0);
        Iwirelasts.push_back(w1);
        Itimefirsts.push_back(t0);
        Itimelasts.push_back(t1);
        Itimefirsts_line.push_back(t0_line);
        Itimelasts_line.push_back(t1_line);
        IclusHitlists.push_back(hitlist);
        Icluster_count.push_back(ii);
        break;
      case 1:
        Cwirefirsts.push_back(w0);
        Cwirelasts.push_back(w1);
        Ctimefirsts.push_back(t0);
        Ctimelasts.push_back(t1);
        Ctimefirsts_line.push_back(t0_line);
        Ctimelasts_line.push_back(t1_line);
        CclusHitlists.push_back(hitlist);
        Ccluster_count.push_back(ii);
        break;
      }
      delete pol1;
    } // end of loop over all input clusters

    /////////////////////////////////////////////////////
    /////// 2D Track Matching and 3D Track Reconstruction
    /////////////////////////////////////////////////////

    //loop over Collection view 2D tracks
    for (size_t collectionIter = 0; collectionIter < CclusHitlists.size(); ++collectionIter) {
      // Recover previously stored info
      double Cw0 = Cwirefirsts[collectionIter];
      double Cw1 = Cwirelasts[collectionIter];
      //double Ct0 = Ctimefirsts[collectionIter];
      //double Ct1 = Ctimelasts[collectionIter];
      double Ct0_line = Ctimefirsts_line[collectionIter];
      double Ct1_line = Ctimelasts_line[collectionIter];
      std::vector<art::Ptr<recob::Hit>> hitsCtrk = CclusHitlists[collectionIter];

      double collLength = std::hypot(Ct1_line - Ct0_line, Cw1 - Cw0);

      //loop over Induction view 2D tracks
      for (size_t inductionIter = 0; inductionIter < IclusHitlists.size(); ++inductionIter) {
        // Recover previously stored info
        double Iw0 = Iwirefirsts[inductionIter];
        double Iw1 = Iwirelasts[inductionIter];
        double It0_line = Itimefirsts_line[inductionIter];
        double It1_line = Itimelasts_line[inductionIter];
        std::vector<art::Ptr<recob::Hit>> hitsItrk = IclusHitlists[inductionIter];

        double indLength = std::hypot(It1_line - It0_line, Iw1 - Iw0);

        bool forward_match = ((std::abs(Ct0_line - It0_line) < ftmatch * timepitch) &&
                              (std::abs(Ct1_line - It1_line) < ftmatch * timepitch));
        bool backward_match = ((std::abs(Ct0_line - It1_line) < ftmatch * timepitch) &&
                               (std::abs(Ct1_line - It0_line) < ftmatch * timepitch));

        // match 2D tracks
        if (forward_match || backward_match) {

          // Reconstruct the 3D track
          TVector3 XYZ0, XYZ1; // track endpoints
          if (forward_match) {
            XYZ0.SetXYZ(Ct0_line,
                        (Cw0 - Iw0) / (2. * std::sin(Angle)),
                        (Cw0 + Iw0) / (2. * std::cos(Angle)) - YC / 2. * std::tan(Angle));
            XYZ1.SetXYZ(Ct1_line,
                        (Cw1 - Iw1) / (2. * std::sin(Angle)),
                        (Cw1 + Iw1) / (2. * std::cos(Angle)) - YC / 2. * std::tan(Angle));
          }
          else {
            XYZ0.SetXYZ(Ct0_line,
                        (Cw0 - Iw1) / (2. * std::sin(Angle)),
                        (Cw0 + Iw1) / (2. * std::cos(Angle)) - YC / 2. * std::tan(Angle));
            XYZ1.SetXYZ(Ct1_line,
                        (Cw1 - Iw0) / (2. * std::sin(Angle)),
                        (Cw1 + Iw0) / (2. * std::cos(Angle)) - YC / 2. * std::tan(Angle));
          }

          //compute track direction in Local co-ordinate system
          //WARNING:  There is an ambiguity introduced here for the case of backwards-going tracks.
          //If available, vertex info. could sort this out.
          TVector3 startpointVec, endpointVec;
          TVector2 collVtx, indVtx;
          if (XYZ0.Z() <= XYZ1.Z()) {
            startpointVec.SetXYZ(XYZ0.X(), XYZ0.Y(), XYZ0.Z());
            endpointVec.SetXYZ(XYZ1.X(), XYZ1.Y(), XYZ1.Z());
            if (forward_match) {
              collVtx.Set(Ct0_line, Cw0);
              indVtx.Set(It0_line, Iw0);
            }
            else {
              collVtx.Set(Ct0_line, Cw0);
              indVtx.Set(It1_line, Iw1);
            }
          }
          else {
            startpointVec.SetXYZ(XYZ1.X(), XYZ1.Y(), XYZ1.Z());
            endpointVec.SetXYZ(XYZ0.X(), XYZ0.Y(), XYZ0.Z());
            if (forward_match) {
              collVtx.Set(Ct1_line, Cw1);
              indVtx.Set(It1_line, Iw1);
            }
            else {
              collVtx.Set(Ct1_line, Cw1);
              indVtx.Set(It0_line, Iw0);
            }
          }

          //compute track (normalized) cosine directions in the TPC co-ordinate system
          TVector3 DirCos = endpointVec - startpointVec;

          //SetMag casues a crash if the magnitude of the vector is zero
          try {
            DirCos.SetMag(1.0); //normalize vector
          }
          catch (...) {
            mf::LogWarning("Track3Dreco") << "The Spacepoint is infinitely small";
            continue;
          }

          art::Ptr<recob::Cluster> cl1(clusterListHandle, Icluster_count[inductionIter]);
          art::Ptr<recob::Cluster> cl2(clusterListHandle, Ccluster_count[collectionIter]);
          art::PtrVector<recob::Cluster> clustersPerTrack;
          clustersPerTrack.push_back(cl1);
          clustersPerTrack.push_back(cl2);

          /////////////////////////////
          // Match hits
          ////////////////////////////

          std::vector<art::Ptr<recob::Hit>> minhits =
            hitsCtrk.size() <= hitsItrk.size() ? hitsCtrk : hitsItrk;
          std::vector<art::Ptr<recob::Hit>> maxhits =
            hitsItrk.size() <= hitsCtrk.size() ? hitsCtrk : hitsItrk;

          std::vector<bool> maxhitsMatch(maxhits.size());
          for (size_t it = 0; it < maxhits.size(); ++it)
            maxhitsMatch[it] = false;

          std::vector<recob::Hit*> hits3Dmatched;
          // For the matching start from the view where the track projection presents less hits
          unsigned int imaximum = 0;
          //loop over hits

          startSPIndex = spacepoints->size();

          for (size_t imin = 0; imin < minhits.size(); ++imin) {
            //get wire - time coordinate of the hit
            unsigned int wire, plane1, plane2;
            wire = minhits[imin]->WireID().Wire;
            plane1 = minhits[imin]->WireID().Plane;

            // get the wire-time co-ordinates of the hit to be matched
            double w1;
            if (plane1 == 0)
              w1 = (double)((wire + 3.95) * wire_pitch);
            else
              w1 = (double)((wire + 1.84) * wire_pitch);
            double temptime1 = minhits[imin]->PeakTime() - presamplings;
            if (plane1 == 1) temptime1 -= tIC;
            double t1;
            if (temptime1 > tSI)
              t1 = (double)((temptime1 - tSI) * timepitch + tSI * driftvelocity_SI * timetick);
            else
              t1 = temptime1 * driftvelocity_SI * timetick;

            //get the track origin co-ordinates in the two views
            TVector2 minVtx2D;
            plane1 == 1 ? minVtx2D.Set(collVtx.X(), collVtx.Y()) :
                          minVtx2D.Set(indVtx.X(), indVtx.Y());
            TVector2 maxVtx2D;
            plane1 == 1 ? maxVtx2D.Set(indVtx.X(), indVtx.Y()) :
                          maxVtx2D.Set(collVtx.X(), collVtx.Y());

            double ratio =
              (collLength > indLength) ? collLength / indLength : indLength / collLength;

            //compute the distance of the hit (imin) from the relative track origin
            double minDistance = ratio * TMath::Sqrt(TMath::Power(t1 - minVtx2D.X(), 2) +
                                                     TMath::Power(w1 - minVtx2D.Y(), 2));

            //core matching algorithm
            double difference = 9999999.;

            //loop over hits of the other view
            for (size_t imax = 0; imax < maxhits.size(); ++imax) {
              if (!maxhitsMatch[imax]) {
                //get wire - time coordinate of the hit
                wire = maxhits[imax]->WireID().Wire;
                plane2 = maxhits[imax]->WireID().Plane;

                double w2;
                if (plane2 == 0)
                  w2 = (double)((wire + 3.95) * wire_pitch);
                else
                  w2 = (double)((wire + 1.84) * wire_pitch);
                double temptime2 = maxhits[imax]->PeakTime() - presamplings;
                if (plane2 == 1) temptime2 -= tIC;
                double t2;
                if (temptime2 > tSI)
                  t2 = (double)((temptime2 - tSI) * timepitch + tSI * driftvelocity_SI * timetick);
                else
                  t2 = temptime2 * driftvelocity_SI * timetick;

                bool timematch = (std::abs(t1 - t2) < ftmatch * timepitch);
                bool wirematch = (std::abs(w1 - w2) < wireShift * wire_pitch);

                double maxDistance = TMath::Sqrt(TMath::Power(t2 - maxVtx2D.X(), 2) +
                                                 TMath::Power(w2 - maxVtx2D.Y(), 2));
                if (wirematch && timematch && std::abs(maxDistance - minDistance) < difference) {
                  difference = std::abs(maxDistance - minDistance);
                  imaximum = imax;
                }
              }
            } // end loop over max hits
            maxhitsMatch[imaximum] = true;

            art::PtrVector<recob::Hit> sp_hits;
            if (difference != 9999999.) {
              sp_hits.push_back(minhits[imin]);
              sp_hits.push_back(maxhits[imaximum]);
            }

            // Get the time-wire co-ordinates of the matched hit
            wire = maxhits[imaximum]->WireID().Wire;
            plane2 = maxhits[imaximum]->WireID().Plane;

            double w1_match;
            if (plane2 == 0)
              w1_match = (double)((wire + 3.95) * wire_pitch);
            else
              w1_match = (double)((wire + 1.84) * wire_pitch);
            double temptime3 = maxhits[imaximum]->PeakTime() - presamplings;
            if (plane2 == 1) temptime3 -= tIC;
            double t1_match;
            if (temptime3 > tSI)
              t1_match =
                (double)((temptime3 - tSI) * timepitch + tSI * driftvelocity_SI * timetick);
            else
              t1_match = temptime3 * driftvelocity_SI * timetick;

            // create the 3D hit, compute its co-ordinates and add it to the 3D hits list
            double Ct = plane1 == 1 ? t1 : t1_match;
            double Cw = plane1 == 1 ? w1 : w1_match;
            double Iw = plane1 == 1 ? w1_match : w1;

            const TVector3 hit3d(Ct,
                                 (Cw - Iw) / (2. * std::sin(Angle)),
                                 (Cw + Iw) / (2. * std::cos(Angle)) - YC / 2. * std::tan(Angle));
            Double_t hitcoord[3];
            hitcoord[0] = hit3d.X();
            hitcoord[1] = hit3d.Y();
            hitcoord[2] = hit3d.Z();

            Double_t hitcoord_errs[3];
            for (int i = 0; i < 3; i++)
              hitcoord_errs[i] = -1.000;

            //3d point at end of track
            recob::SpacePoint mysp(hitcoord, hitcoord_errs, -1., spacepoints->size());

            spacepoints->push_back(mysp);

            // associate the hits to the space point
            util::CreateAssn(evt, *spacepoints, sp_hits, *shassn);

          } //loop over min-hits

          endSPIndex = spacepoints->size();

          // Add the 3D track to the vector of the reconstructed tracks
          if (spacepoints->size() > startSPIndex || clustersPerTrack.size() > 0) {

            std::vector<TVector3> xyz;
            xyz.push_back(startpointVec);
            xyz.push_back(endpointVec);
            std::vector<TVector3> dir_xyz;
            dir_xyz.push_back(DirCos);
            dir_xyz.push_back(DirCos);

            recob::Track the3DTrack(
              recob::TrackTrajectory(recob::tracking::convertCollToPoint(xyz),
                                     recob::tracking::convertCollToVector(dir_xyz),
                                     recob::Track::Flags_t(xyz.size()),
                                     false),
              0,
              -1.,
              0,
              recob::tracking::SMatrixSym55(),
              recob::tracking::SMatrixSym55(),
              tcol->size());
            tcol->push_back(the3DTrack);

            // associate the track with its spacepoints
            util::CreateAssn(evt, *tcol, *spacepoints, *sassn, startSPIndex, endSPIndex);

            // associate the track with its clusters
            util::CreateAssn(evt, *tcol, clustersPerTrack, *cassn);

            art::FindManyP<recob::Hit> fmhc(clustersPerTrack, evt, fClusterModuleLabel);

            // get the hits associated with each cluster and associate those with the track
            for (size_t p = 0; p < clustersPerTrack.size(); ++p) {
              const std::vector<art::Ptr<recob::Hit>>& hits = fmhc.at(p);
              util::CreateAssn(evt, *tcol, hits, *hassn);
            }
          }

        } //close match 2D tracks

      } //close loop over Induction view 2D tracks

    } //close loop over Collection view 2D tracks

    mf::LogVerbatim("Summary") << std::setfill('-') << std::setw(175) << "-" << std::setfill(' ');
    mf::LogVerbatim("Summary") << "Track3Dreco Summary:";
    for (unsigned int i = 0; i < tcol->size(); ++i) {
      mf::LogVerbatim("Summary") << tcol->at(i);
    }

    evt.put(std::move(tcol));
    evt.put(std::move(spacepoints));
    evt.put(std::move(cassn));
    evt.put(std::move(sassn));
    evt.put(std::move(hassn));
    evt.put(std::move(shassn));

    return;
  }

  DEFINE_ART_MODULE(Track3Dreco)

} // namespace