PMAlgTrajFitter_module.cc

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// Class:       PMAlgTrajFitter
// Module Type: producer
// File:        PMAlgTrajFitter_module.cc
// Author:      D.Stefan (Dorota.Stefan@ncbj.gov.pl) and R.Sulej (Robert.Sulej@cern.ch), May 2015
//
// Creates 3D tracks using Projection Matching Algorithm, please see
// RecoAlg/ProjectionMatchingAlg.h for basics of the PMA algorithm and its settings.
//
// Progress:
//    July 2016:   fit-only module separated from PMAlgTrackMaker_module, common tracking
//                 functionality moved to algorithm class;
//                 note, that some part of vertexing can be still reasonable in this module:
//                  - use hierarchy of input PFP's to create vertices, join tracks, reoptimize
//                  - detect vertices/kinks on fitted trajectories
//

#include "art/Framework/Core/EDProducer.h"
#include "art/Framework/Core/ModuleMacros.h"
#include "art/Framework/Principal/Event.h"
#include "art/Framework/Principal/Handle.h"
#include "fhiclcpp/types/Atom.h"
#include "fhiclcpp/types/Table.h"
#include "messagefacility/MessageLogger/MessageLogger.h"

// LArSoft includes
#include "canvas/Utilities/InputTag.h"
#include "larcore/Geometry/Geometry.h"
#include "larcore/Geometry/WireReadout.h"
#include "larcorealg/Geometry/TPCGeo.h"
#include "lardata/DetectorInfoServices/DetectorPropertiesService.h"
#include "lardata/Utilities/AssociationUtil.h"
#include "lardataobj/RecoBase/Cluster.h"
#include "lardataobj/RecoBase/Hit.h"
#include "lardataobj/RecoBase/PFParticle.h"
#include "lardataobj/RecoBase/SpacePoint.h"
#include "lardataobj/RecoBase/Track.h"
#include "lardataobj/RecoBase/TrackHitMeta.h"
#include "lardataobj/RecoBase/Vertex.h"

#include "larreco/RecoAlg/PMAlgTracking.h"

#include <memory>

namespace trkf {

  class PMAlgTrajFitter : public art::EDProducer {
  public:
    struct Config {
      using Name = fhicl::Name;
      using Comment = fhicl::Comment;

      fhicl::Table<pma::ProjectionMatchingAlg::Config> ProjectionMatchingAlg{
        Name("ProjectionMatchingAlg")};

      fhicl::Table<pma::PMAlgFitter::Config> PMAlgFitting{Name("PMAlgFitting")};

      fhicl::Table<pma::PMAlgVertexing::Config> PMAlgVertexing{Name("PMAlgVertexing")};

      fhicl::Atom<art::InputTag> HitModuleLabel{
        Name("HitModuleLabel"),
        Comment("tag of unclustered hits, which were used to produce PFPs and clusters")};

      fhicl::Atom<art::InputTag> PfpModuleLabel{
        Name("PfpModuleLabel"),
        Comment("tag of the input PFParticles and associated clusters")};

      fhicl::Atom<bool> SaveOnlyBranchingVtx{
        Name("SaveOnlyBranchingVtx"),
        Comment("use true to save only vertices interconnecting many tracks, otherwise vertex is "
                "added to the front of each track")};

      fhicl::Atom<bool> SavePmaNodes{
        Name("SavePmaNodes"),
        Comment("save track nodes (only for algorithm development purposes)")};
    };
    using Parameters = art::EDProducer::Table<Config>;

    explicit PMAlgTrajFitter(Parameters const& config);

    PMAlgTrajFitter(PMAlgTrajFitter const&) = delete;
    PMAlgTrajFitter(PMAlgTrajFitter&&) = delete;
    PMAlgTrajFitter& operator=(PMAlgTrajFitter const&) = delete;
    PMAlgTrajFitter& operator=(PMAlgTrajFitter&&) = delete;

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

    // ******************** fcl parameters ***********************
    art::InputTag fHitModuleLabel; // tag for unclustered hit collection
    art::InputTag fPfpModuleLabel; // tag for PFParticle and cluster collections

    pma::ProjectionMatchingAlg::Config fPmaConfig;
    pma::PMAlgFitter::Config fPmaFitterConfig;
    pma::PMAlgVertexing::Config fPmaVtxConfig;

    bool fSaveOnlyBranchingVtx; // for debugging, save only vertices which connect many tracks
    bool fSavePmaNodes;         // for debugging, save only track nodes

    // ********** instance names (collections, assns) ************
    static const std::string kKinksName; // kinks on tracks
    static const std::string kNodesName; // pma nodes

    // *********************** geometry **************************
    geo::WireReadoutGeom const& wireReadoutGeom = art::ServiceHandle<geo::WireReadout>()->Get();
  };
  // -------------------------------------------------------------
  const std::string PMAlgTrajFitter::kKinksName = "kink";
  const std::string PMAlgTrajFitter::kNodesName = "node";
  // -------------------------------------------------------------

  PMAlgTrajFitter::PMAlgTrajFitter(PMAlgTrajFitter::Parameters const& config)
    : EDProducer{config}
    , fHitModuleLabel(config().HitModuleLabel())
    , fPfpModuleLabel(config().PfpModuleLabel())
    , fPmaConfig(config().ProjectionMatchingAlg())
    , fPmaFitterConfig(config().PMAlgFitting())
    , fPmaVtxConfig(config().PMAlgVertexing())
    , fSaveOnlyBranchingVtx(config().SaveOnlyBranchingVtx())
    , fSavePmaNodes(config().SavePmaNodes())
  {
    produces<std::vector<recob::Track>>();
    produces<std::vector<recob::SpacePoint>>();
    produces<std::vector<recob::Vertex>>();           // no instance name for interaction vertices
    produces<std::vector<recob::Vertex>>(kKinksName); // collection of kinks on tracks
    produces<std::vector<recob::Vertex>>(kNodesName); // collection of pma nodes

    produces<art::Assns<recob::Track,
                        recob::Hit>>(); // ****** REMEMBER to remove when FindMany improved ******
    produces<art::Assns<recob::Track, recob::Hit, recob::TrackHitMeta>>();

    produces<art::Assns<recob::Track, recob::SpacePoint>>();
    produces<art::Assns<recob::SpacePoint, recob::Hit>>();
    produces<
      art::Assns<recob::Vertex,
                 recob::Track>>(); // no instance name for assns of tracks to interaction vertices
    produces<art::Assns<recob::Track, recob::Vertex>>(kKinksName); // assns of kinks to tracks

    produces<art::Assns<recob::PFParticle, recob::Track>>();
  }
  // ------------------------------------------------------

  void PMAlgTrajFitter::produce(art::Event& evt)
  {
    // ---------------- Create data products ------------------
    auto tracks = std::make_unique<std::vector<recob::Track>>();
    auto allsp = std::make_unique<std::vector<recob::SpacePoint>>();
    auto vtxs = std::make_unique<std::vector<recob::Vertex>>(); // interaction vertices
    auto kinks = std::make_unique<
      std::vector<recob::Vertex>>(); // kinks on tracks (no new particles start in kinks)
    auto nodes = std::make_unique<std::vector<recob::Vertex>>(); // pma nodes

    auto trk2hit_oldway = std::make_unique<
      art::Assns<recob::Track,
                 recob::Hit>>(); // ****** REMEMBER to remove when FindMany improved ******
    auto trk2hit = std::make_unique<art::Assns<recob::Track, recob::Hit, recob::TrackHitMeta>>();

    auto trk2sp = std::make_unique<art::Assns<recob::Track, recob::SpacePoint>>();

    auto sp2hit = std::make_unique<art::Assns<recob::SpacePoint, recob::Hit>>();
    auto vtx2trk = std::make_unique<
      art::Assns<recob::Vertex,
                 recob::Track>>(); // one or more tracks (particles) start in the vertex
    auto trk2kink =
      std::make_unique<art::Assns<recob::Track, recob::Vertex>>(); // one or more kinks on the track

    auto pfp2trk = std::make_unique<art::Assns<recob::PFParticle, recob::Track>>();

    // ------------------- Collect inputs ---------------------
    art::Handle<std::vector<recob::Hit>> allHitListHandle;
    art::Handle<std::vector<recob::Cluster>> cluListHandle;
    art::Handle<std::vector<recob::PFParticle>> pfparticleHandle;
    std::vector<art::Ptr<recob::Hit>> allhitlist;
    if (!(evt.getByLabel(fHitModuleLabel,
                         allHitListHandle) && // all hits used to make clusters and PFParticles
          evt.getByLabel(fPfpModuleLabel, cluListHandle) &&   // clusters associated to PFParticles
          evt.getByLabel(fPfpModuleLabel, pfparticleHandle))) // and finally PFParticles
    {
      throw cet::exception("PMAlgTrajFitter")
        << "Not all required data products found in the event." << std::endl;
    }

    art::fill_ptr_vector(allhitlist, allHitListHandle);

    art::FindManyP<recob::Hit> hitsFromClusters(cluListHandle, evt, fPfpModuleLabel);
    art::FindManyP<recob::Cluster> clustersFromPfps(pfparticleHandle, evt, fPfpModuleLabel);
    art::FindManyP<recob::Vertex> vtxFromPfps(pfparticleHandle, evt, fPfpModuleLabel);

    auto const detProp =
      art::ServiceHandle<detinfo::DetectorPropertiesService const>()->DataFor(evt);

    // -------------- PMA Fitter for this event ---------------
    auto pmalgFitter = pma::PMAlgFitter(allhitlist,
                                        *cluListHandle,
                                        *pfparticleHandle,
                                        hitsFromClusters,
                                        clustersFromPfps,
                                        vtxFromPfps,
                                        fPmaConfig,
                                        fPmaFitterConfig,
                                        fPmaVtxConfig);

    // ------------------ Do the job here: --------------------
    int retCode = pmalgFitter.build(detProp);
    // --------------------------------------------------------
    switch (retCode) {
    case -2: mf::LogError("Summary") << "problem"; break;
    case -1: mf::LogWarning("Summary") << "no input"; break;
    case 0: mf::LogVerbatim("Summary") << "no tracks done"; break;
    default:
      if (retCode < 0)
        mf::LogVerbatim("Summary") << "unknown result";
      else if (retCode == 1)
        mf::LogVerbatim("Summary") << retCode << " track ready";
      else
        mf::LogVerbatim("Summary") << retCode << " tracks ready";
      break;
    }

    // ---------- Translate output to data products: ----------
    auto const& result = pmalgFitter.result();
    if (!result.empty()) // ok, there is something to save
    {
      size_t spStart = 0, spEnd = 0;
      double sp_pos[3], sp_err[6];
      for (size_t i = 0; i < 3; i++)
        sp_pos[i] = 1.0;
      for (size_t i = 0; i < 6; i++)
        sp_err[i] = 1.0;

      // use the following to create PFParticle <--> Track associations;
      std::map<size_t, std::vector<art::Ptr<recob::Track>>> pfPartToTrackVecMap;

      //auto const make_trkptr = art::PtrMaker<recob::Track>(evt, *this); // PtrMaker Step #1

      tracks->reserve(result.size());
      for (size_t trkIndex = 0; trkIndex < result.size(); ++trkIndex) {
        pma::Track3D* trk = result[trkIndex].Track();

        trk->SelectHits(); // just in case, set all to enabled
        unsigned int itpc = trk->FrontTPC(), icryo = trk->FrontCryo();
        geo::TPCID const tpcid{icryo, itpc};
        auto has_plane = [this, &tpcid](auto const view) {
          return wireReadoutGeom.HasPlane(geo::PlaneID(tpcid, view));
        };

        if (has_plane(geo::kU)) trk->CompleteMissingWires(detProp, geo::kU);
        if (has_plane(geo::kV)) trk->CompleteMissingWires(detProp, geo::kV);
        if (has_plane(geo::kZ)) trk->CompleteMissingWires(detProp, geo::kZ);

        // gc: make sure no tracks are created with less than 2 points
        if (trk->size() < 2) continue;

        tracks->push_back(pma::convertFrom(*trk, trkIndex));

        //auto const trkPtr = make_trkptr(tracks->size() - 1); // PtrMaker Step #2

        size_t trkIdx = tracks->size() - 1; // stuff for assns:
        art::ProductID trkId = evt.getProductID<std::vector<recob::Track>>();
        art::Ptr<recob::Track> trkPtr(trkId, trkIdx, evt.productGetter(trkId));

        //gc: save associated hits in the same order as trajectory points
        for (size_t h = 0, cnt = 0; h < trk->size(); h++) {
          pma::Hit3D* h3d = (*trk)[h];
          if (!h3d->IsEnabled()) continue;

          recob::TrackHitMeta metadata(cnt++, h3d->Dx());
          trk2hit->addSingle(trkPtr, h3d->Hit2DPtr(), metadata);
          trk2hit_oldway->addSingle(
            trkPtr, h3d->Hit2DPtr()); // ****** REMEMBER to remove when FindMany improved ******
        }

        art::PtrVector<recob::Hit> sp_hits;
        spStart = allsp->size();
        for (size_t h = 0; h < trk->size(); ++h) {
          pma::Hit3D* h3d = (*trk)[h];
          if (!h3d->IsEnabled()) continue;

          double hx = h3d->Point3D().X();
          double hy = h3d->Point3D().Y();
          double hz = h3d->Point3D().Z();

          if ((h == 0) || (std::fabs(sp_pos[0] - hx) > 1.0e-5) ||
              (std::fabs(sp_pos[1] - hy) > 1.0e-5) || (std::fabs(sp_pos[2] - hz) > 1.0e-5)) {
            if (sp_hits.size()) // hits assigned to the previous sp
            {
              util::CreateAssn(evt, *allsp, sp_hits, *sp2hit);
              sp_hits.clear();
            }
            sp_pos[0] = hx;
            sp_pos[1] = hy;
            sp_pos[2] = hz;
            allsp->push_back(recob::SpacePoint(sp_pos, sp_err, 1.0));
          }
          sp_hits.push_back(h3d->Hit2DPtr());
        }

        if (sp_hits.size()) // hits assigned to the last sp
        {
          util::CreateAssn(evt, *allsp, sp_hits, *sp2hit);
        }
        spEnd = allsp->size();

        if (spEnd > spStart) util::CreateAssn(evt, *tracks, *allsp, *trk2sp, spStart, spEnd);

        // if there is a PFParticle collection then recover PFParticle and add info to map
        if (result[trkIndex].Key() > -1) {
          size_t trackIdx = tracks->size() - 1;
          art::ProductID trackId = evt.getProductID<std::vector<recob::Track>>();
          art::Ptr<recob::Track> trackPtr(trackId, trackIdx, evt.productGetter(trackId));
          pfPartToTrackVecMap[result[trkIndex].Key()].push_back(trackPtr);
        }
      }

      auto vid = evt.getProductID<std::vector<recob::Vertex>>();
      auto kid = evt.getProductID<std::vector<recob::Vertex>>(kKinksName);
      auto const* kinkGetter = evt.productGetter(kid);

      auto tid = evt.getProductID<std::vector<recob::Track>>();
      auto const* trkGetter = evt.productGetter(tid);

      auto vsel = pmalgFitter.getVertices(
        fSaveOnlyBranchingVtx);           // vtx pos's with vector of connected track idxs
      auto ksel = pmalgFitter.getKinks(); // pairs of kink position - associated track idx
      std::map<size_t, art::Ptr<recob::Vertex>> frontVtxs; // front vertex ptr for each track index

      if (fPmaFitterConfig.RunVertexing()) // save vertices and vtx-trk assns
      {
        double xyz[3];
        for (auto const& v : vsel) {
          xyz[0] = v.first.X();
          xyz[1] = v.first.Y();
          xyz[2] = v.first.Z();
          mf::LogVerbatim("Summary") << "  vtx:" << xyz[0] << ":" << xyz[1] << ":" << xyz[2]
                                     << "  (" << v.second.size() << " tracks)";

          size_t vidx = vtxs->size();
          vtxs->push_back(recob::Vertex(xyz, vidx));

          art::Ptr<recob::Vertex> vptr(vid, vidx, evt.productGetter(vid));
          if (vptr.isNull()) mf::LogWarning("PMAlgTrajFitter") << "Vertex ptr is null.";
          if (!v.second.empty()) {
            for (const auto& vEntry : v.second) {
              size_t tidx = vEntry.first;
              bool isFront = vEntry.second;

              if (isFront) frontVtxs[tidx] = vptr; // keep ptr of the front vtx

              art::Ptr<recob::Track> tptr(tid, tidx, trkGetter);
              vtx2trk->addSingle(vptr, tptr);
            }
          }
          else
            mf::LogWarning("PMAlgTrajFitter") << "No tracks found at this vertex.";
        }
        mf::LogVerbatim("Summary") << vtxs->size() << " vertices ready";

        for (auto const& k : ksel) {
          xyz[0] = k.first.X();
          xyz[1] = k.first.Y();
          xyz[2] = k.first.Z();
          mf::LogVerbatim("Summary") << "  kink:" << xyz[0] << ":" << xyz[1] << ":" << xyz[2];

          size_t kidx = kinks->size();
          size_t tidx = k.second; // track idx on which this kink was found

          kinks->push_back(
            recob::Vertex(xyz, tidx)); // save index of track (will have color of trk in evd)

          art::Ptr<recob::Track> tptr(tid, tidx, trkGetter);
          art::Ptr<recob::Vertex> kptr(kid, kidx, kinkGetter);
          trk2kink->addSingle(tptr, kptr);
        }
        mf::LogVerbatim("Summary") << ksel.size() << " kinks ready";
      }

      if (fSavePmaNodes) {
        double xyz[3];
        for (size_t t = 0; t < result.size(); ++t) {
          auto const& trk = *(result[t].Track());
          for (auto const* node : trk.Nodes()) {
            xyz[0] = node->Point3D().X();
            xyz[1] = node->Point3D().Y();
            xyz[2] = node->Point3D().Z();
            nodes->push_back(recob::Vertex(xyz, t));
          }
        }
      }

      for (const auto& pfParticleItr : pfPartToTrackVecMap) {
        art::Ptr<recob::PFParticle> pfParticle(pfparticleHandle, pfParticleItr.first);
        mf::LogVerbatim("PMAlgTrajFitter")
          << "PFParticle key: " << pfParticle.key() << ", self: " << pfParticle->Self()
          << ", #tracks: " << pfParticleItr.second.size();

        if (!pfParticle.isNull())
          util::CreateAssn(evt, pfParticle, pfParticleItr.second, *pfp2trk);
        else
          mf::LogError("PMAlgTrajFitter")
            << "Error in PFParticle lookup, pfparticle index: " << pfParticleItr.first
            << ", key: " << pfParticle.key();
      }
    }

    evt.put(std::move(tracks));
    evt.put(std::move(allsp));
    evt.put(std::move(vtxs));
    evt.put(std::move(kinks), kKinksName);
    evt.put(std::move(nodes), kNodesName);

    evt.put(std::move(trk2hit_oldway)); // ****** REMEMBER to remove when FindMany improved ******
    evt.put(std::move(trk2hit));
    evt.put(std::move(trk2sp));

    evt.put(std::move(sp2hit));
    evt.put(std::move(vtx2trk));
    evt.put(std::move(trk2kink), kKinksName);

    evt.put(std::move(pfp2trk));
  }

  DEFINE_ART_MODULE(PMAlgTrajFitter)

} // namespace trkf