Inheritance diagram for trkf::KalmanFilterTrajectoryFitter:

Classes
struct	Config

struct	Inputs

struct	Options

Public Types
using	Parameters = art::EDProducer::Table< Config >

Public Types inherited from art::EDProducer
using	ModuleType = EDProducer

using	WorkerType = WorkerT< EDProducer >

Public Types inherited from art::detail::Producer
template<typename UserConfig , typename KeysToIgnore = void>
using	Table = Modifier::Table< UserConfig, KeysToIgnore >

Public Types inherited from art::Modifier
template<typename UserConfig , typename UserKeysToIgnore = void>
using	Table = ProducerTable< UserConfig, detail::ModuleConfig, UserKeysToIgnore >

Public Member Functions
	KalmanFilterTrajectoryFitter (Parameters const &p)

	KalmanFilterTrajectoryFitter (KalmanFilterTrajectoryFitter const &)=delete

	KalmanFilterTrajectoryFitter (KalmanFilterTrajectoryFitter &&)=delete

KalmanFilterTrajectoryFitter &	operator= (KalmanFilterTrajectoryFitter const &)=delete

KalmanFilterTrajectoryFitter &	operator= (KalmanFilterTrajectoryFitter &&)=delete

Public Member Functions inherited from art::EDProducer
	EDProducer (fhicl::ParameterSet const &pset)

template<typename Config >
	EDProducer (Table< Config > const &config)

std::string	workerType () const

Public Member Functions inherited from art::detail::Producer
virtual	~Producer () noexcept

	Producer (fhicl::ParameterSet const &)

	Producer (Producer const &)=delete

	Producer (Producer &&)=delete

Producer &	operator= (Producer const &)=delete

Producer &	operator= (Producer &&)=delete

void	doBeginJob (SharedResources const &resources)

void	doEndJob ()

void	doRespondToOpenInputFile (FileBlock const &fb)

void	doRespondToCloseInputFile (FileBlock const &fb)

void	doRespondToOpenOutputFiles (FileBlock const &fb)

void	doRespondToCloseOutputFiles (FileBlock const &fb)

bool	doBeginRun (RunPrincipal &rp, ModuleContext const &mc)

bool	doEndRun (RunPrincipal &rp, ModuleContext const &mc)

bool	doBeginSubRun (SubRunPrincipal &srp, ModuleContext const &mc)

bool	doEndSubRun (SubRunPrincipal &srp, ModuleContext const &mc)

bool	doEvent (EventPrincipal &ep, ModuleContext const &mc, std::atomic< std::size_t > &counts_run, std::atomic< std::size_t > &counts_passed, std::atomic< std::size_t > &counts_failed)

Public Member Functions inherited from art::Modifier
	~Modifier () noexcept

	Modifier ()

	Modifier (Modifier const &)=delete

	Modifier (Modifier &&)=delete

Modifier &	operator= (Modifier const &)=delete

Modifier &	operator= (Modifier &&)=delete

Public Member Functions inherited from art::ModuleBase
virtual	~ModuleBase () noexcept

	ModuleBase ()

ModuleDescription const &	moduleDescription () const

void	setModuleDescription (ModuleDescription const &)

std::array< std::vector< ProductInfo >, NumBranchTypes > const &	getConsumables () const

void	sortConsumables (std::string const &current_process_name)

template<typename T , BranchType BT>
ViewToken< T >	consumesView (InputTag const &tag)

template<typename T , BranchType BT>
ViewToken< T >	mayConsumeView (InputTag const &tag)

Private Member Functions
void	produce (art::Event &e) override

double	setMomValue (const recob::TrackTrajectory *ptraj, const double pMC, const int pId) const

int	setPId () const

bool	setDirFlip (const recob::TrackTrajectory *ptraj, TVector3 &mcdir) const

void	restoreInputPoints (const recob::TrackTrajectory &track, const std::vector< art::Ptr< recob::Hit >> &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit >> &outHits) const

Private Attributes
Parameters	p_

TrackStatePropagator	prop

trkf::TrackKalmanFitter	kalmanFitter

trkf::TrackMomentumCalculator	tmc {}

art::InputTag	trajectoryInputTag

art::InputTag	simTrackInputTag

bool	isTT

Additional Inherited Members
Static Public Member Functions inherited from art::EDProducer
static void	commitEvent (EventPrincipal &ep, Event &e)

Protected Member Functions inherited from art::ModuleBase
ConsumesCollector &	consumesCollector ()

template<typename T , BranchType = InEvent>
ProductToken< T >	consumes (InputTag const &)

template<typename Element , BranchType = InEvent>
ViewToken< Element >	consumesView (InputTag const &)

template<typename T , BranchType = InEvent>
void	consumesMany ()

template<typename T , BranchType = InEvent>
ProductToken< T >	mayConsume (InputTag const &)

template<typename Element , BranchType = InEvent>
ViewToken< Element >	mayConsumeView (InputTag const &)

template<typename T , BranchType = InEvent>
void	mayConsumeMany ()

Detailed Description

Definition at line 33 of file KalmanFilterTrajectoryFitter_module.cc.

Member Typedef Documentation

using trkf::KalmanFilterTrajectoryFitter::Parameters = art::EDProducer::Table<Config>

Definition at line 103 of file KalmanFilterTrajectoryFitter_module.cc.

Constructor & Destructor Documentation

KalmanFilterTrajectoryFitter::KalmanFilterTrajectoryFitter ( Parameters const & p )

explicit

Definition at line 137 of file KalmanFilterTrajectoryFitter_module.cc.

   : EDProducer{p}
   , p_(p)
   , prop{p_().propagator}
   , kalmanFitter{&prop, p_().fitter}
   , trajectoryInputTag{p_().inputs().inputTrajectoryLabel()}
 {
   if (p_().options().pFromMC() || p_().options().dirFromMC())
     simTrackInputTag = art::InputTag{p_().inputs().inputMCLabel()};
 
   isTT = p_().inputs().isTrackTrajectory();
 
   produces<std::vector<recob::Track>>();
   produces<art::Assns<recob::Track, recob::Hit>>();
   produces<art::Assns<recob::Track, recob::Hit, recob::TrackHitMeta>>();
   if (isTT) { produces<art::Assns<recob::TrackTrajectory, recob::Track>>(); }
   else {
     produces<art::Assns<recob::Trajectory, recob::Track>>();
   }
   if (p_().options().produceTrackFitHitInfo()) {
     produces<std::vector<std::vector<recob::TrackFitHitInfo>>>();
   }
   if (p_().options().produceSpacePoints()) {
     produces<std::vector<recob::SpacePoint>>();
     produces<art::Assns<recob::Hit, recob::SpacePoint>>();
   }
 
   //throw expections to avoid possible silent failures due to incompatible configuration options
 
   unsigned int nDirs = 0;
   if (p_().options().dirFromMC()) nDirs++;
   if (p_().options().dirFromVec()) nDirs++;
   if (p_().options().alwaysInvertDir()) nDirs++;
   if (nDirs > 1) {
     throw cet::exception("KalmanFilterTrajectoryFitter")
       << "Incompatible configuration parameters: only at most one can be set to true among "
          "dirFromMC, dirFromVec, and alwaysInvertDir."
       << "\n";
   }
 
   unsigned int nPFroms = 0;
   if (p_().options().pFromLength()) nPFroms++;
   if (p_().options().pFromMC()) nPFroms++;
   if (nPFroms > 1) {
     throw cet::exception("KalmanFilterTrajectoryFitter")
       << "Incompatible configuration parameters: only at most one can be set to true among "
          "pFromLength, and pFromMC."
       << "\n"; //pFromMSChi2,
   }
 
   if (p_().options().keepInputTrajectoryPoints()) {
     if (p_().fitter().sortHitsByPlane() || p_().fitter().sortOutputHitsMinLength() ||
         p_().fitter().skipNegProp()) {
       throw cet::exception("KalmanFilterTrajectoryFitter")
         << "Incompatible configuration parameters: keepInputTrajectoryPoints needs the following "
            "fitter options all set to false: sortHitsByPlane, sortOutputHitsMinLength, skipNegProp."
         << "\n";
     }
   }
 }

trkf::KalmanFilterTrajectoryFitter::KalmanFilterTrajectoryFitter ( KalmanFilterTrajectoryFitter const & )

delete

trkf::KalmanFilterTrajectoryFitter::KalmanFilterTrajectoryFitter ( KalmanFilterTrajectoryFitter && )

delete

Member Function Documentation

KalmanFilterTrajectoryFitter& trkf::KalmanFilterTrajectoryFitter::operator= ( KalmanFilterTrajectoryFitter const & )

delete

KalmanFilterTrajectoryFitter& trkf::KalmanFilterTrajectoryFitter::operator= ( KalmanFilterTrajectoryFitter && )

delete

void KalmanFilterTrajectoryFitter::produce ( art::Event & e )

overrideprivatevirtual

Implements art::EDProducer.

Definition at line 200 of file KalmanFilterTrajectoryFitter_module.cc.

 {
 
   auto outputTracks = std::make_unique<std::vector<recob::Track>>();
   auto outputHitsMeta =
     std::make_unique<art::Assns<recob::Track, recob::Hit, recob::TrackHitMeta>>();
   auto outputHits = std::make_unique<art::Assns<recob::Track, recob::Hit>>();
   auto outputHitInfo = std::make_unique<std::vector<std::vector<recob::TrackFitHitInfo>>>();
 
   //only one will be filled and pushed into the event:
   auto outputTTjTAssn = std::make_unique<art::Assns<recob::TrackTrajectory, recob::Track>>();
   auto outputTjTAssn = std::make_unique<art::Assns<recob::Trajectory, recob::Track>>();
 
   auto const tid = e.getProductID<std::vector<recob::Track>>();
   auto const tidgetter = e.productGetter(tid);
 
   auto outputSpacePoints = std::make_unique<std::vector<recob::SpacePoint>>();
   auto outputHitSpacePointAssn = std::make_unique<art::Assns<recob::Hit, recob::SpacePoint>>();
   auto const spid = e.getProductID<std::vector<recob::SpacePoint>>();
   auto const spidgetter = e.productGetter(spid);
 
   //FIXME, eventually remove this (ok only for single particle MC)
   double pMC = -1.;
   TVector3 mcdir;
   if (p_().options().pFromMC() || p_().options().dirFromMC()) {
     art::ValidHandle<std::vector<sim::MCTrack>> simTracks =
       e.getValidHandle<std::vector<sim::MCTrack>>(simTrackInputTag);
     for (unsigned int iMC = 0; iMC < simTracks->size(); ++iMC) {
       const sim::MCTrack& mctrack = simTracks->at(iMC);
       //fiducial cuts on MC tracks
       if (mctrack.PdgCode() != 13) continue;
       if (mctrack.Process() != "primary") continue;
       pMC = mctrack.Start().Momentum().P() * 0.001;
       mcdir = TVector3(mctrack.Start().Momentum().X() * 0.001 / pMC,
                        mctrack.Start().Momentum().Y() * 0.001 / pMC,
                        mctrack.Start().Momentum().Z() * 0.001 / pMC);
       break;
     }
     //std::cout << "mc momentum value = " << pval << " GeV" << std::endl;
   }
 
   unsigned int nTrajs = 0;
 
   art::Handle<std::vector<recob::TrackTrajectory>> inputTrackTrajectoryH;
   art::Handle<std::vector<recob::Trajectory>> inputTrajectoryH;
   const std::vector<recob::TrackTrajectory>* trackTrajectoryVec = nullptr;
   const std::vector<recob::Trajectory>* trajectoryVec = nullptr;
   const art::Assns<recob::TrackTrajectory, recob::Hit>* trackTrajectoryHitsAssn = nullptr;
   const art::Assns<recob::Trajectory, recob::Hit>* trajectoryHitsAssn = nullptr;
   if (isTT) {
     bool ok = e.getByLabel(trajectoryInputTag, inputTrackTrajectoryH);
     if (!ok)
       throw cet::exception("KalmanFilterTrajectoryFitter")
         << "Cannot find recob::TrackTrajectory art::Handle with inputTag " << trajectoryInputTag;
     trackTrajectoryVec = inputTrackTrajectoryH.product();
     trackTrajectoryHitsAssn =
       e.getValidHandle<art::Assns<recob::TrackTrajectory, recob::Hit>>(trajectoryInputTag)
         .product();
     nTrajs = trackTrajectoryVec->size();
   }
   else {
     bool ok = e.getByLabel(trajectoryInputTag, inputTrajectoryH);
     if (!ok)
       throw cet::exception("KalmanFilterTrajectoryFitter")
         << "Cannot find recob::Trajectory art::Handle with inputTag " << trajectoryInputTag;
     trajectoryVec = inputTrajectoryH.product();
     trajectoryHitsAssn =
       e.getValidHandle<art::Assns<recob::Trajectory, recob::Hit>>(trajectoryInputTag).product();
     nTrajs = trajectoryVec->size();
   }
 
   auto const detProp = art::ServiceHandle<detinfo::DetectorPropertiesService const>()->DataFor(e);
 
   for (unsigned int iTraj = 0; iTraj < nTrajs; ++iTraj) {
 
     const recob::TrackTrajectory& inTraj =
       (isTT ? trackTrajectoryVec->at(iTraj) :
               recob::TrackTrajectory(trajectoryVec->at(iTraj),
                                      std::vector<recob::TrajectoryPointFlags>()));
     // this is not computationally optimal, but at least preserves the order
     // unlike FindManyP
     std::vector<art::Ptr<recob::Hit>> inHits;
     if (isTT) {
       for (auto it = trackTrajectoryHitsAssn->begin(); it != trackTrajectoryHitsAssn->end(); ++it) {
         if (it->first.key() == iTraj)
           inHits.push_back(it->second);
         else if (inHits.size() > 0)
           break;
       }
     }
     else {
       for (auto it = trajectoryHitsAssn->begin(); it != trajectoryHitsAssn->end(); ++it) {
         if (it->first.key() == iTraj)
           inHits.push_back(it->second);
         else if (inHits.size() > 0)
           break;
       }
     }
     const int pId = setPId();
     const double mom = setMomValue(&inTraj, pMC, pId);
     const bool flipDir = setDirFlip(&inTraj, mcdir);
 
     recob::Track outTrack;
     std::vector<art::Ptr<recob::Hit>> outHits;
     trkmkr::OptionalOutputs optionals;
     if (p_().options().produceTrackFitHitInfo()) optionals.initTrackFitInfos();
     bool fitok = kalmanFitter.fitTrack(detProp,
                                        inTraj,
                                        iTraj,
                                        SMatrixSym55(),
                                        SMatrixSym55(),
                                        inHits, // inFlags,
                                        mom,
                                        pId,
                                        flipDir,
                                        outTrack,
                                        outHits,
                                        optionals);
     if (!fitok) continue;
 
     if (p_().options().keepInputTrajectoryPoints()) {
       restoreInputPoints(inTraj, inHits, outTrack, outHits);
     }
 
     outputTracks->emplace_back(std::move(outTrack));
     art::Ptr<recob::Track> aptr(tid, outputTracks->size() - 1, tidgetter);
     unsigned int ip = 0;
     for (auto const& trhit : outHits) {
       //the fitter produces collections with 1-1 match between hits and point
       recob::TrackHitMeta metadata(ip, -1);
       outputHitsMeta->addSingle(aptr, trhit, metadata);
       outputHits->addSingle(aptr, trhit);
       if (p_().options().produceSpacePoints() && outputTracks->back().HasValidPoint(ip)) {
         auto& tp = outputTracks->back().Trajectory().LocationAtPoint(ip);
         double fXYZ[3] = {tp.X(), tp.Y(), tp.Z()};
         double fErrXYZ[6] = {0};
         recob::SpacePoint sp(fXYZ, fErrXYZ, -1.);
         outputSpacePoints->emplace_back(std::move(sp));
         art::Ptr<recob::SpacePoint> apsp(spid, outputSpacePoints->size() - 1, spidgetter);
         outputHitSpacePointAssn->addSingle(trhit, apsp);
       }
       ip++;
     }
     outputHitInfo->emplace_back(optionals.trackFitHitInfos());
     if (isTT) {
       outputTTjTAssn->addSingle(art::Ptr<recob::TrackTrajectory>(inputTrackTrajectoryH, iTraj),
                                 aptr);
     }
     else {
       outputTjTAssn->addSingle(art::Ptr<recob::Trajectory>(inputTrajectoryH, iTraj), aptr);
     }
   }
   e.put(std::move(outputTracks));
   e.put(std::move(outputHitsMeta));
   e.put(std::move(outputHits));
   if (p_().options().produceTrackFitHitInfo()) { e.put(std::move(outputHitInfo)); }
   if (p_().options().produceSpacePoints()) {
     e.put(std::move(outputSpacePoints));
     e.put(std::move(outputHitSpacePointAssn));
   }
   if (isTT)
     e.put(std::move(outputTTjTAssn));
   else
     e.put(std::move(outputTjTAssn));
 }

void KalmanFilterTrajectoryFitter::restoreInputPoints	(	const recob::TrackTrajectory &	track,
		const std::vector< art::Ptr< recob::Hit >> &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit >> &	outHits
	)		const

private

Definition at line 367 of file KalmanFilterTrajectoryFitter_module.cc.

 {
   const auto np = outTrack.NumberTrajectoryPoints();
   std::vector<Point_t> positions(np);
   std::vector<Vector_t> momenta(np);
   std::vector<recob::TrajectoryPointFlags> outFlags(np);
   //
   for (unsigned int p = 0; p < np; ++p) {
     auto flag = outTrack.FlagsAtPoint(p);
     auto mom = outTrack.VertexMomentum();
     auto op = flag.fromHit();
     positions[op] = track.LocationAtPoint(op);
     momenta[op] = mom * track.DirectionAtPoint(op);
     auto mask = flag.mask();
     if (mask.isSet(recob::TrajectoryPointFlagTraits::NoPoint))
       mask.unset(recob::TrajectoryPointFlagTraits::NoPoint);
     outFlags[op] = recob::TrajectoryPointFlags(op, mask);
   }
   auto covs = outTrack.Covariances();
   outTrack = recob::Track(
     recob::TrackTrajectory(std::move(positions), std::move(momenta), std::move(outFlags), true),
     outTrack.ParticleId(),
     outTrack.Chi2(),
     outTrack.Ndof(),
     std::move(covs.first),
     std::move(covs.second),
     outTrack.ID());
   //
   outHits.clear();
   for (auto h : inHits)
     outHits.push_back(h);
 }

bool KalmanFilterTrajectoryFitter::setDirFlip	(	const recob::TrackTrajectory *	ptraj,
		TVector3 &	mcdir
	)		const

private

Definition at line 425 of file KalmanFilterTrajectoryFitter_module.cc.

 {
   bool result = false;
   if (p_().options().alwaysInvertDir()) { return true; }
   else if (p_().options().dirFromMC()) {
     auto tdir = ptraj->VertexDirection();
     if ((mcdir.X() * tdir.X() + mcdir.Y() * tdir.Y() + mcdir.Z() * tdir.Z()) < 0.) result = true;
   }
   else if (p_().options().dirFromVec()) {
     std::array<float, 3> dir = p_().options().dirVec();
     auto tdir = ptraj->VertexDirection();
     if ((dir[0] * tdir.X() + dir[1] * tdir.Y() + dir[2] * tdir.Z()) < 0.) result = true;
   }
   return result;
 }

double KalmanFilterTrajectoryFitter::setMomValue	(	const recob::TrackTrajectory *	ptraj,
		const double	pMC,
		const int	pId
	)		const

private

Definition at line 405 of file KalmanFilterTrajectoryFitter_module.cc.

 {
   double result = p_().options().pval();
   if (p_().options().pFromLength()) { result = tmc.GetTrackMomentum(ptraj->Length(), pId); }
   else if (p_().options().pFromMC() && pMC > 0.) {
     result = pMC;
   }
   return result;
 }

int KalmanFilterTrajectoryFitter::setPId ( ) const

private

Definition at line 418 of file KalmanFilterTrajectoryFitter_module.cc.

 {
   int result = p_().options().pdgId();
   return result;
 }

Member Data Documentation

bool trkf::KalmanFilterTrajectoryFitter::isTT

private

Definition at line 124 of file KalmanFilterTrajectoryFitter_module.cc.

trkf::TrackKalmanFitter trkf::KalmanFilterTrajectoryFitter::kalmanFitter

private

Definition at line 118 of file KalmanFilterTrajectoryFitter_module.cc.

Parameters trkf::KalmanFilterTrajectoryFitter::p_

private

Definition at line 116 of file KalmanFilterTrajectoryFitter_module.cc.

TrackStatePropagator trkf::KalmanFilterTrajectoryFitter::prop

private

Definition at line 117 of file KalmanFilterTrajectoryFitter_module.cc.

art::InputTag trkf::KalmanFilterTrajectoryFitter::simTrackInputTag

private

Definition at line 122 of file KalmanFilterTrajectoryFitter_module.cc.

trkf::TrackMomentumCalculator trkf::KalmanFilterTrajectoryFitter::tmc {}

private

Definition at line 119 of file KalmanFilterTrajectoryFitter_module.cc.

art::InputTag trkf::KalmanFilterTrajectoryFitter::trajectoryInputTag

private

Definition at line 121 of file KalmanFilterTrajectoryFitter_module.cc.

The documentation for this class was generated from the following file:

larreco/larreco/TrackFinder/KalmanFilterTrajectoryFitter_module.cc

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation