Concrete implementation of a tool to fit tracks with TrackKalmanFitter. More...

Inheritance diagram for trkmkr::KalmanFilterFitTrackMaker:

Classes
struct	Config

struct	Options

Public Types
using	Parameters = art::ToolConfigTable< Config >

Public Member Functions
	KalmanFilterFitTrackMaker (Parameters const &p)
	Constructor from Parameters. More...

virtual void	initEvent (const art::Event &e) override
	initialize event: get collection of recob::MCSFitResult More...

bool	makeTrackImpl (const recob::TrackTrajectory &traj, const int tkID, const std::vector< art::Ptr< recob::Hit >> &inHits, const SMatrixSym55 &covVtx, const SMatrixSym55 &covEnd, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit >> &outHits, OptionalOutputs &optionals) const
	function that actually calls the fitter More...

bool	makeTrack (const recob::TrackTrajectory &traj, const int tkID, const std::vector< art::Ptr< recob::Hit >> &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit >> &outHits, OptionalOutputs &optionals) const override

bool	makeTrack (const recob::Track &track, const std::vector< art::Ptr< recob::Hit >> &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit >> &outHits, OptionalOutputs &optionals) const override
	override of TrackMaker virtual function with recob::Track as argument More...

int	getParticleID (const recob::TrackTrajectory &traj, const int tkID) const
	set the particle ID hypothesis More...

double	getMomentum (const recob::TrackTrajectory &traj, const int pid, const bool isFlip, const int tkID) const
	set the initial momentum estimate More...

bool	isFlipDirection (const recob::TrackTrajectory &traj, const int tkID) const
	decide whether to flip the direction or not More...

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

virtual bool	makeTrack (const art::Ptr< recob::TrackTrajectory > ttraj, const std::vector< art::Ptr< recob::Hit > > &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit > > &outHits, OptionalOutputs &optionals) const
	makeTrack functions with art::Ptr<recob::TrackTrajectory>; calls the purely virtual version with const recob::TrackTrajectory reference as argument. More...

virtual bool	makeTrack (const recob::TrackTrajectory &ttraj, const int tkID, const std::vector< art::Ptr< recob::Hit > > &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit > > &outHits, OptionalOutputs &optionals) const =0
	makeTrack functions with const recob::TrackTrajectory reference as argument: purely virtual, to be implemented in concrete classes. More...


virtual bool	makeTrack (const recob::Trajectory &traj, const std::vector< recob::TrajectoryPointFlags > &flags, const int tkID, const std::vector< art::Ptr< recob::Hit > > &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit > > &outHits, OptionalOutputs &optionals) const
	makeTrack functions with recob::Trajectory as argument; calls the version with recob::TrackTrajectory using a dummy flags vector. More...

virtual bool	makeTrack (const art::Ptr< recob::Trajectory > traj, const std::vector< recob::TrajectoryPointFlags > &flags, const std::vector< art::Ptr< recob::Hit > > &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit > > &outHits, OptionalOutputs &optionals) const
	makeTrack functions with recob::Trajectory as argument; calls the version with recob::TrackTrajectory using a dummy flags vector. More...


virtual bool	makeTrack (const art::Ptr< recob::Track > track, const std::vector< art::Ptr< recob::Hit > > &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit > > &outHits, OptionalOutputs &optionals) const
	makeTrack functions with recob::Track as argument; calls the version with recob::TrackTrajectory. More...

virtual bool	makeTrack (const recob::Track &track, const std::vector< art::Ptr< recob::Hit > > &inHits, recob::Track &outTrack, std::vector< art::Ptr< recob::Hit > > &outHits, OptionalOutputs &optionals) const
	makeTrack functions with recob::Track as argument; calls the version with recob::TrackTrajectory. More...

Private Attributes
Parameters	p_

const trkf::TrackStatePropagator	prop

const trkf::TrackKalmanFitter	kalmanFitter

const trkf::TrajectoryMCSFitter	mcsfitter

double	mom_def_

bool	momFromMCSColl_

art::InputTag	mcsInputTag_

bool	momFromCombAndPid_

art::InputTag	contInputTag_

bool	pidFromColl_

art::InputTag	pidInputTag_

double	mom_len_cut_

int	pid_def_

bool	alwaysFlip_

bool	dirFromVec_

recob::tracking::Vector_t	dirVec

const std::vector< recob::MCSFitResult > *	mcs = nullptr

const std::vector< anab::CosmicTag > *	cont = nullptr

const std::vector< anab::ParticleID > *	pid = nullptr

trkf::TrackMomentumCalculator	tmc

Detailed Description

Concrete implementation of a tool to fit tracks with TrackKalmanFitter.

Concrete implementation of a tool to fit tracks with trkf::TrackKalmanFitter; inherits from abstract class TrackMaker. It prepares the input needed by the fitter (momentum, particleId, direction), and returns a track with all outputs filled. If the flag keepInputTrajectoryPoints is set to true, the tracjetory points from the input track are copied into the output, so that only the covariance matrices, the chi2 and the ndof in the output track are resulting from the fit.

For configuration options see KalmanFilterFitTrackMaker::Options and KalmanFilterFitTrackMaker::Config.

Author: G. Cerati (FNAL, MicroBooNE)

Date: 2017

Version: 1.0

Definition at line 46 of file KalmanFilterFitTrackMaker_tool.cc.

Member Typedef Documentation

using trkmkr::KalmanFilterFitTrackMaker::Parameters = art::ToolConfigTable<Config>

Definition at line 128 of file KalmanFilterFitTrackMaker_tool.cc.

Constructor & Destructor Documentation

trkmkr::KalmanFilterFitTrackMaker::KalmanFilterFitTrackMaker ( Parameters const & p )

inlineexplicit

Constructor from Parameters.

Definition at line 131 of file KalmanFilterFitTrackMaker_tool.cc.

References alwaysFlip_, contInputTag_, d, dirFromVec_, trkmkr::KalmanFilterFitTrackMaker::Options::dirVec, kalmanFitter, trkmkr::KalmanFilterFitTrackMaker::Options::keepInputTrajectoryPoints, mcsfitter, mcsInputTag_, mom_def_, mom_len_cut_, momFromCombAndPid_, momFromMCSColl_, p_, pid_def_, pidFromColl_, pidInputTag_, and prop.

                                                             :
       p_(p),
       prop{p_().propagator},
       kalmanFitter{&prop, p_().fitter},
       mcsfitter{p_().mcsfit},
       mom_def_{p_().options().defaultMomInGeV()},
       momFromMCSColl_{p_().options().momFromMCSCollection()},
       momFromCombAndPid_{p_().options().momFromCombAndPid()},
       pidFromColl_{p_().options().pidFromCollection()},
       mom_len_cut_{p_().options().pidFromLengthCut()},
       pid_def_{p_().options().defaultPdgId()},
       alwaysFlip_{p_().options().alwaysInvertDir()},
       dirFromVec_{p_().options().dirFromVec()}
     {
       if (momFromMCSColl_) {
         mcsInputTag_ = p_().options().mcsInputTag();
       }
       if (momFromCombAndPid_) {
         contInputTag_ = p_().options().contInputTag();
       }
       if (pidFromColl_) {
         pidInputTag_ = p_().options().pidInputTag();
       }
       if (dirFromVec_) {
         auto d = p_().options().dirVec();
         dirVec = recob::tracking::Vector_t{d[0], d[1], d[2]};
       }
       //
       if (p_().options().keepInputTrajectoryPoints() &&
           (p_().fitter().sortHitsByPlane() ||
            p_().fitter().sortOutputHitsMinLength() ||
            p_().fitter().skipNegProp())) {
         throw cet::exception("KalmanFilterFitTrackMaker")
           << "Incompatible configuration parameters: keepInputTrajectoryPoints "
              "needs the following fitter options all set to false: "
              "sortHitsByPlane, sortOutputHitsMinLength, skipNegProp."
           << "\n";
       }
       if (momFromMCSColl_ && momFromCombAndPid_) {
         throw cet::exception("KalmanFilterFitTrackMaker")
           << "Incompatible configuration parameters: momFromMCSCollection and "
              "momFromCombAndPid cannot be both true at the same time."
           << "\n";
       }
       if (pidFromColl_ && mom_len_cut_ > 0) {
         throw cet::exception("KalmanFilterFitTrackMaker")
           << "Incompatible configuration parameters: pidFromCollection and "
              "pidFromLengthCut cannot be respectively true and >0. at the same "
              "time."
           << "\n";
       }
       if (alwaysFlip_ && dirFromVec_) {
         throw cet::exception("KalmanFilterFitTrackMaker")
           << "Incompatible configuration parameters: alwaysInvertDir and "
              "dirFromVec cannot be both true at the same time."
           << "\n";
       }
       //
     }

Member Function Documentation

double trkmkr::KalmanFilterFitTrackMaker::getMomentum	(	const recob::TrackTrajectory &	traj,
		const int	pid,
		const bool	isFlip,
		const int	tkID
	)		const

set the initial momentum estimate

Definition at line 342 of file KalmanFilterFitTrackMaker_tool.cc.

References cont, trkf::TrajectoryMCSFitter::fitMcs(), trkf::TrackMomentumCalculator::GetTrackMomentum(), anab::kNotTagged, recob::TrackTrajectory::Length(), mcs, mcsfitter, mom_def_, momFromCombAndPid_, momFromMCSColl_, pid, and tmc.

Referenced by makeTrack(), and makeTrackImpl().

 {
   double mom = mom_def_;
   if (momFromMCSColl_) {
     double mcsmom =
       (isFlip ? mcs->at(tkID).bwdMomentum() : mcs->at(tkID).fwdMomentum());
     // make sure the mcs fit converged
     if (mcsmom > 0.01 && mcsmom < 7.)
       mom = mcsmom;
   }
   if (momFromCombAndPid_) {
     bool isContained = cont->at(tkID).CosmicType() == anab::kNotTagged;
     // for now momentum from range implemented only for muons and protons
     // so treat pions as muons (~MIPs) and kaons as protons
     int pidtmp = pid;
     if (pidtmp == 211 || pidtmp == 13)
       pidtmp = 13;
     else
       pidtmp = 2212;
     mom = tmc.GetTrackMomentum(traj.Length(), pidtmp);
     if (isContained == false) {
       auto mcsresult = mcsfitter.fitMcs(traj, pid);
       double mcsmom =
         (isFlip ? mcsresult.bwdMomentum() : mcsresult.fwdMomentum());
       // make sure the mcs fit converged, also the mcsmom should not be less
       // than the range!
       if (mcsmom > 0.01 && mcsmom < 7. && mcsmom > mom)
         mom = mcsmom;
     }
   }
   return mom;
 }

int trkmkr::KalmanFilterFitTrackMaker::getParticleID	(	const recob::TrackTrajectory &	traj,
		const int	tkID
	)		const

set the particle ID hypothesis

Definition at line 379 of file KalmanFilterFitTrackMaker_tool.cc.

References recob::TrackTrajectory::Length(), mom_len_cut_, pid_def_, and pidFromColl_.

Referenced by makeTrack(), and makeTrackImpl().

 {
   if (pidFromColl_) {
     return pid->at(tkID).Pdg();
   }
   if (mom_len_cut_ > 0.) {
     return (traj.Length() < mom_len_cut_ ? 2212 : 13);
   }
   return pid_def_;
 }

virtual void trkmkr::KalmanFilterFitTrackMaker::initEvent ( const art::Event & e )

inlineoverridevirtual

initialize event: get collection of recob::MCSFitResult

Reimplemented from trkmkr::TrackMaker.

Definition at line 193 of file KalmanFilterFitTrackMaker_tool.cc.

References cont, contInputTag_, art::DataViewImpl::getValidHandle(), makeTrackImpl(), mcs, mcsInputTag_, momFromCombAndPid_, momFromMCSColl_, pidFromColl_, pidInputTag_, and lar::dump::vector().

     {
       if (momFromMCSColl_)
         mcs = e.getValidHandle<std::vector<recob::MCSFitResult>>(mcsInputTag_).product();
       if (momFromCombAndPid_) {
         cont = e.getValidHandle<std::vector<anab::CosmicTag>>(contInputTag_).product();
       }
       if (pidFromColl_) {
         pid = e.getValidHandle<std::vector<anab::ParticleID>>(pidInputTag_).product();
       }
       return;
     }

bool trkmkr::KalmanFilterFitTrackMaker::isFlipDirection	(	const recob::TrackTrajectory &	traj,
		const int	tkID
	)		const

decide whether to flip the direction or not

Definition at line 392 of file KalmanFilterFitTrackMaker_tool.cc.

References alwaysFlip_, dirFromVec_, trkmkr::KalmanFilterFitTrackMaker::Options::dirVec, and recob::TrackTrajectory::VertexDirection().

Referenced by makeTrack(), and makeTrackImpl().

 {
   if (alwaysFlip_) {
     return true;
   } else if (dirFromVec_) {
     auto tdir = traj.VertexDirection();
     if (tdir.Dot(dirVec) < 0.)
       return true;
   }
   return false;
 }

virtual bool trkmkr::TrackMaker::makeTrack	(	const recob::Trajectory &	traj,
		const std::vector< recob::TrajectoryPointFlags > &	flags,
		const int	tkID,
		const std::vector< art::Ptr< recob::Hit > > &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit > > &	outHits,
		OptionalOutputs &	optionals
	)		const

inlinevirtualinherited

makeTrack functions with recob::Trajectory as argument; calls the version with recob::TrackTrajectory using a dummy flags vector.

Definition at line 162 of file TrackMaker.h.

     {
       return makeTrack(recob::TrackTrajectory(traj,recob::TrackTrajectory::Flags_t(traj.NPoints())), tkID, inHits, outTrack, outHits, optionals);
     }

virtual bool trkmkr::TrackMaker::makeTrack	(	const art::Ptr< recob::Trajectory >	traj,
		const std::vector< recob::TrajectoryPointFlags > &	flags,
		const std::vector< art::Ptr< recob::Hit > > &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit > > &	outHits,
		OptionalOutputs &	optionals
	)		const

inlinevirtualinherited

makeTrack functions with recob::Trajectory as argument; calls the version with recob::TrackTrajectory using a dummy flags vector.

Definition at line 168 of file TrackMaker.h.

References art::Ptr< T >::key(), and recob::Trajectory::NPoints().

     {
       return makeTrack(recob::TrackTrajectory(*traj,recob::TrackTrajectory::Flags_t(traj->NPoints())), traj.key(), inHits, outTrack, outHits, optionals);
     }

virtual bool trkmkr::TrackMaker::makeTrack	(	const art::Ptr< recob::TrackTrajectory >	ttraj,
		const std::vector< art::Ptr< recob::Hit > > &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit > > &	outHits,
		OptionalOutputs &	optionals
	)		const

inlinevirtualinherited

makeTrack functions with art::Ptr<recob::TrackTrajectory>; calls the purely virtual version with const recob::TrackTrajectory reference as argument.

Definition at line 177 of file TrackMaker.h.

References art::Ptr< T >::key(), track, recob::Track::Trajectory(), and lar::dump::vector().

     {
       return makeTrack(*ttraj, ttraj.key(), inHits, outTrack, outHits, optionals);
     }

virtual bool trkmkr::TrackMaker::makeTrack	(	const recob::TrackTrajectory &	ttraj,
		const int	tkID,
		const std::vector< art::Ptr< recob::Hit > > &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit > > &	outHits,
		OptionalOutputs &	optionals
	)		const

pure virtualinherited

makeTrack functions with const recob::TrackTrajectory reference as argument: purely virtual, to be implemented in concrete classes.

virtual bool trkmkr::TrackMaker::makeTrack	(	const art::Ptr< recob::Track >	track,
		const std::vector< art::Ptr< recob::Hit > > &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit > > &	outHits,
		OptionalOutputs &	optionals
	)		const

inlinevirtualinherited

makeTrack functions with recob::Track as argument; calls the version with recob::TrackTrajectory.

Definition at line 189 of file TrackMaker.h.

     {
       return makeTrack(track->Trajectory(), track.key(), inHits, outTrack, outHits, optionals);
     }

virtual bool trkmkr::TrackMaker::makeTrack	(	const recob::Track &	track,
		const std::vector< art::Ptr< recob::Hit > > &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit > > &	outHits,
		OptionalOutputs &	optionals
	)		const

inlinevirtualinherited

makeTrack functions with recob::Track as argument; calls the version with recob::TrackTrajectory.

Definition at line 195 of file TrackMaker.h.

References recob::Track::ID(), and recob::Track::Trajectory().

     {
       return makeTrack(track.Trajectory(), track.ID(), inHits, outTrack, outHits, optionals);
     }

bool trkmkr::KalmanFilterFitTrackMaker::makeTrack	(	const recob::TrackTrajectory &	traj,
		const int	tkID,
		const std::vector< art::Ptr< recob::Hit >> &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit >> &	outHits,
		OptionalOutputs &	optionals
	)		const

inlineoverride

override of TrackMaker purely virtual function with recob::TrackTrajectory as argument

Definition at line 219 of file KalmanFilterFitTrackMaker_tool.cc.

References makeTrackImpl().

     {
       return makeTrackImpl(traj,
                            tkID,
                            inHits,
                            trkf::SMatrixSym55{},
                            trkf::SMatrixSym55{},
                            outTrack,
                            outHits,
                            optionals);
     }

bool trkmkr::KalmanFilterFitTrackMaker::makeTrack	(	const recob::Track &	track,
		const std::vector< art::Ptr< recob::Hit >> &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit >> &	outHits,
		OptionalOutputs &	optionals
	)		const

inlineoverride

override of TrackMaker virtual function with recob::Track as argument

Definition at line 238 of file KalmanFilterFitTrackMaker_tool.cc.

References recob::Track::Covariances(), getMomentum(), getParticleID(), recob::Track::ID(), isFlipDirection(), makeTrackImpl(), restoreInputPoints(), recob::Track::Trajectory(), and lar::dump::vector().

     {
       auto covs = track.Covariances();
       return makeTrackImpl(track.Trajectory(),
                            track.ID(),
                            inHits,
                            covs.first,
                            covs.second,
                            outTrack,
                            outHits,
                            optionals);
     }

bool trkmkr::KalmanFilterFitTrackMaker::makeTrackImpl	(	const recob::TrackTrajectory &	traj,
		const int	tkID,
		const std::vector< art::Ptr< recob::Hit >> &	inHits,
		const SMatrixSym55 &	covVtx,
		const SMatrixSym55 &	covEnd,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit >> &	outHits,
		OptionalOutputs &	optionals
	)		const

function that actually calls the fitter

Definition at line 299 of file KalmanFilterFitTrackMaker_tool.cc.

References trkf::TrackKalmanFitter::fitTrack(), getMomentum(), getParticleID(), isFlipDirection(), kalmanFitter, trkmkr::KalmanFilterFitTrackMaker::Options::keepInputTrajectoryPoints, p_, and restoreInputPoints().

Referenced by initEvent(), and makeTrack().

 {
   //
   const int pid = getParticleID(traj, tkID);
   const bool flipDirection = isFlipDirection(traj, tkID);
   const double mom = getMomentum(traj, pid, flipDirection, tkID); // what about mom uncertainty?
   // std::cout << "fitting track with mom=" << mom << " pid=" << pid << " flip="
   // << flipDirection << " start pos=" << traj.Start() << " dir=" <<
   // traj.StartDirection() << std::endl;
   bool fitok = kalmanFitter.fitTrack(traj,
                                      tkID,
                                      covVtx,
                                      covEnd,
                                      inHits,
                                      mom,
                                      pid,
                                      flipDirection,
                                      outTrack,
                                      outHits,
                                      optionals);
   if (!fitok)
     return false;
   //
   // std::cout << "fitted track with mom=" << outTrack.StartMomentum() << "
   // pid=" << outTrack.ParticleId() << " flip=" << flipDirection << " start pos="
   // << outTrack.Start() << " dir=" << outTrack.StartDirection() << " nchi2=" <<
   // outTrack.Chi2PerNdof() << std::endl;
   //
   if (p_().options().keepInputTrajectoryPoints()) {
     restoreInputPoints(traj, inHits, outTrack, outHits, optionals);
   }
   //
   return true;
 }

void trkmkr::KalmanFilterFitTrackMaker::restoreInputPoints	(	const recob::TrackTrajectory &	traj,
		const std::vector< art::Ptr< recob::Hit >> &	inHits,
		recob::Track &	outTrack,
		std::vector< art::Ptr< recob::Hit >> &	outHits,
		OptionalOutputs &	optionals
	)		const

restore the TrajectoryPoints in the Track to be the same as those in the input TrackTrajectory (but keep covariance matrices and chi2 from fit).

Definition at line 406 of file KalmanFilterFitTrackMaker_tool.cc.

References recob::Track::Chi2(), recob::Track::Covariances(), DEFINE_ART_CLASS_TOOL, recob::Track::FlagsAtPoint(), recob::TrajectoryPointFlags::fromHit(), recob::Trajectory::HasMomentum(), recob::Track::ID(), trkmkr::OptionalOutputs::isTrackFitInfosInit(), recob::TrackTrajectory::LocationAtPoint(), recob::TrajectoryPointFlags::mask(), recob::TrackTrajectory::MomentumVectorAtPoint(), recob::TrajectoryPointFlagTraits::NoPoint, recob::Track::NumberTrajectoryPoints(), recob::Track::ParticleId(), and util::flags::BitMask< Storage >::unset().

Referenced by makeTrack(), and makeTrackImpl().

 {
   if (optionals.isTrackFitInfosInit()) {
     throw cet::exception("KalmanFilterFitTrackMaker")
       << "Option keepInputTrajectoryPoints not compatible with "
          "doTrackFitHitInfo, please set doTrackFitHitInfo to false in the "
          "track producer.\n";
   }
   const auto np = outTrack.NumberTrajectoryPoints();
   trkmkr::TrackCreationBookKeeper tcbk(outHits,
                                        optionals,
                                        outTrack.ID(),
                                        outTrack.ParticleId(),
                                        traj.HasMomentum());
   //
   std::vector<unsigned int> flagsmap(np, -1);
   for (unsigned int i = 0; i < np; ++i)
     flagsmap[outTrack.FlagsAtPoint(i).fromHit()] = i;
   //
   for (unsigned int p = 0; p < np; ++p) {
     auto mask = outTrack.FlagsAtPoint(flagsmap[p]).mask();
     if (mask.isSet(recob::TrajectoryPointFlagTraits::NoPoint))
       mask.unset(recob::TrajectoryPointFlagTraits::NoPoint);
     tcbk.addPoint(traj.LocationAtPoint(p),
                   traj.MomentumVectorAtPoint(p),
                   inHits[p],
                   recob::TrajectoryPointFlags(p, mask),
                   0);
   }
   auto covs = outTrack.Covariances();
   tcbk.setTotChi2(outTrack.Chi2());
   outTrack = tcbk.finalizeTrack(std::move(covs.first), std::move(covs.second));
   //
 }