TrajectorySegmentBuilder.cc

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#include <algorithm> 

#include "TrajectorySegmentBuilder.h"

#include "RecoTracker/CkfPattern/src/RecHitIsInvalid.h"
#include "TrackingTools/PatternTools/interface/TempTrajectory.h"

#include "DataFormats/TrajectorySeed/interface/TrajectorySeed.h"
#include "TrackingTools/KalmanUpdators/interface/KFUpdator.h"
#include "TrackingTools/DetLayers/interface/MeasurementEstimator.h"
#include "TrackingTools/PatternTools/interface/Trajectory.h"
#include "TrackingTools/PatternTools/interface/TrajectoryMeasurement.h"
#include "TrackingTools/PatternTools/interface/TrajMeasLessEstim.h"
#include "TrackingTools/MeasurementDet/interface/TrajectoryMeasurementGroup.h"
#include "TrackingTools/DetLayers/interface/DetGroup.h"
#include "TrackingTools/DetLayers/interface/DetLayer.h"
#include "TrajectoryLessByFoundHits.h"
#include "TrackingTools/PatternTools/interface/TrajectoryStateUpdator.h"
#include "TrackingTools/DetLayers/interface/GeomDetCompatibilityChecker.h"
#include "TrackingTools/MeasurementDet/interface/MeasurementDet.h"

#include "FWCore/MessageLogger/interface/MessageLogger.h"
#include "FWCore/Utilities/interface/thread_safety_macros.h"

// #define DBG_TSB
// #define STAT_TSB

namespace {
#ifdef STAT_TSB
  struct StatCount {
    long long totGroup;
    long long totSeg;
    long long totLockHits;
    long long totInvCand;
    long long trunc;
    void zero() {
      totGroup=totSeg=totLockHits=totInvCand=trunc=0;
    }
    void incr(long long g, long long s, long long l) {
      totGroup+=g;
      totSeg+=s;
      totLockHits+=l;
     }
    void truncated() { ++trunc;}
    void invalid() { ++totInvCand;}
    void print() const {
      std::cout << "TrajectorySegmentBuilder stat\nGroup/Seg/Lock/Inv/Trunc "
            << totGroup<<'/'<<totSeg<<'/'<<totLockHits<<'/'<<totInvCand<<'/'<<trunc
        << std::endl;
    }
    StatCount() { zero();}
    ~StatCount() { print();}
  };
  StatCount statCount;

#else
  struct StatCount {
    void incr(long long, long long, long long){}
    void truncated() {}
    void invalid() {}
  };
  CMS_THREAD_SAFE StatCount statCount;
#endif


}


using namespace std;

TrajectorySegmentBuilder::TempTrajectoryContainer
TrajectorySegmentBuilder::segments (const TSOS startingState)
{
  //
  // create empty trajectory
  //
  theLockedHits.clear();
  TempTrajectory startingTrajectory(theFullPropagator.propagationDirection(),0);
  //
  // get measurement groups
  //
  auto && measGroups = 
    theLayerMeasurements->groupedMeasurements(theLayer,startingState,theFullPropagator,theEstimator);

#ifdef DBG_TSB
  cout << "TSB: number of measurement groups = " << measGroups.size() << endl;
  //  theDbgFlg = measGroups.size()>1;
  theDbgFlg = true;
#else
  theDbgFlg = false;
#endif


#ifdef TSB_TRUNCATE
  //  V.I. to me makes things slower...

  //
  // check number of combinations
  //
  constexpr long long  MAXCOMB = 100000000;
  long long ncomb(1);
  int ngrp(0);
  bool truncate(false);
  for (auto const & gr : measGroups) {
    ++ngrp;
    int nhit(0);
    for ( auto const & m : gr.measurements()) if LIKELY( m.recHitR().isValid() )  nhit++;
    
    if ( nhit>1 )  ncomb *= nhit;
    if UNLIKELY( ncomb>MAXCOMB ) {
    edm::LogInfo("TrajectorySegmentBuilder") << " found " << measGroups.size() 
                         << " groups and more than " << static_cast<unsigned int>(MAXCOMB)
                         << " combinations - limiting to "
                         << (ngrp-1) << " groups";
    truncate = true;
    
    statCount.truncated();
    
    break;
      }
  }  
  //   cout << "Groups / combinations = " << measGroups.size() << " " << ncomb << endl;
  if UNLIKELY( truncate && ngrp>0 )  measGroups.resize(ngrp-1);

#endif


#ifdef DBG_TSB
  if ( theDbgFlg ) {
    int ntot(1);
    for (vector<TMG>::const_iterator ig=measGroups.begin();
     ig!=measGroups.end(); ++ig) {
      int ngrp(0);
      const vector<TM>& measurements = ig->measurements();
      for ( vector<TM>::const_iterator im=measurements.begin();
        im!=measurements.end(); ++im ) {
    if ( im->recHit()->isValid() )  ngrp++;
      }
      cout << " " << ngrp;
      if ( ngrp>0 )  ntot *= ngrp;
    }  
    cout << endl;
    cout << "TrajectorySegmentBuilder::partialTrajectories:: det ids & hit types / group" << endl;
    for (vector<TMG>::const_iterator ig=measGroups.begin();
     ig!=measGroups.end(); ++ig) {
      const vector<TM>& measurements = ig->measurements();
      for ( vector<TM>::const_iterator im=measurements.begin();
        im!=measurements.end(); ++im ) {
    if ( im!=measurements.begin() )  cout << " / ";
    if ( im->recHit()->det() )
      cout << im->recHit()->det()->geographicalId().rawId() << " "
           << im->recHit()->getType();
    else
      cout << "no det";
      }
      cout << endl;
    }  
  

//   if ( measGroups.size()>4 ) {
    cout << typeid(theLayer).name() << endl;
    cout << startingState.localError().matrix() << endl;
//     for (vector<TMG>::const_iterator ig=measGroups.begin();
//   ig!=measGroups.end(); ig++) {
//       cout << "Nr. of measurements = " << ig->measurements().size() << endl;
//       const DetGroup& dg = ig->detGroup();
//       for ( DetGroup::const_iterator id=dg.begin();
//      id!=dg.end(); id++ ) {
//  GlobalPoint p(id->det()->position());
//  GlobalVector v(id->det()->toGlobal(LocalVector(0.,0.,1.)));
//  cout << p.perp() << " " << p.phi() << " " << p.z() << " ; "
//       << v.phi() << " " << v.z() << endl;
//       }
//     }
//   }
  }
#endif

  TempTrajectoryContainer && candidates = 
    addGroup(startingTrajectory,measGroups.begin(),measGroups.end());

  if UNLIKELY(theDbgFlg) cout << "TSB: back with " << candidates.size() << " candidates" << endl;

  //
  // add invalid hit - try to get first detector hit by the extrapolation
  //

  updateWithInvalidHit(startingTrajectory,measGroups,candidates);

  if UNLIKELY(theDbgFlg) cout << "TSB: " << candidates.size() << " candidates after invalid hit" << endl;

  statCount.incr(measGroups.size(), candidates.size(), theLockedHits.size());


  theLockedHits.clear();

  return candidates;
}

void TrajectorySegmentBuilder::updateTrajectory (TempTrajectory& traj, TM tm) const
{
  auto &&  predictedState = tm.predictedState();
  auto &&  hit = tm.recHit();
  
  if ( hit->isValid()) {
    auto && upState = theUpdator.update( predictedState, *hit); 
    traj.emplace(std::move(predictedState), std::move(upState),
           std::move(hit), tm.estimate(), tm.layer());

//     TrajectoryMeasurement tm(traj.lastMeasurement());
//     if ( tm.updatedState().isValid() ) {
//       if ( !hit.det().surface()->bounds().inside(tm.updatedState().localPosition(),
//                      tm.updatedState().localError().positionError(),3.f) ) {
//  cout << "Incompatibility after update for det at " << hit.det().position() << ":" << endl;
//  cout << tm.predictedState().localPosition() << " " 
//       << tm.predictedState().localError().positionError() << endl;
//  cout << hit.localPosition() << " " << hit.localPositionError() << endl;
//  cout << tm.updatedState().localPosition() << " "
//       << tm.updatedState().localError().positionError() << endl;
//       }
//     }
  }
  else {
    traj.emplace(std::move(predictedState), std::move(hit),0, tm.layer());
  }
}


TrajectorySegmentBuilder::TempTrajectoryContainer
TrajectorySegmentBuilder::addGroup (TempTrajectory const & traj,
                    vector<TMG>::const_iterator begin,
                    vector<TMG>::const_iterator end)
{
  vector<TempTrajectory> ret;
  if ( begin==end ) {
    //std::cout << "TrajectorySegmentBuilder::addGroup" << " traj.empty()=" << traj.empty() << "EMPTY" << std::endl;
    if UNLIKELY(theDbgFlg) cout << "TSB::addGroup : no groups left" << endl;
    if ( !traj.empty() )
      ret.push_back(traj);
    return ret;
  }
  
  if UNLIKELY(theDbgFlg) cout << "TSB::addGroup : traj.size() = " << traj.measurements().size()
                  << " first group at " << &(*begin)
           //        << " nr. of candidates = " << candidates.size() 
                  << endl;
  
  
  TempTrajectoryContainer updatedTrajectories; updatedTrajectories.reserve(2);
  if ( traj.measurements().empty() ) {
    if ( theMaxCand == 1 ) {
      auto && firstMeasurements = unlockedMeasurements(begin->measurements());
      if (!firstMeasurements.empty()) updateCandidatesWithBestHit(traj,std::move(firstMeasurements.front()),updatedTrajectories);
    } else {
      updateCandidates(traj,begin->measurements(),updatedTrajectories);
    }
    if UNLIKELY(theDbgFlg) cout << "TSB::addGroup : updating with first group - "
                << updatedTrajectories.size() << " trajectories" << endl;
  }
  else {
    auto && meas = redoMeasurements(traj,begin->detGroup());
    if (!meas.empty()) {
    if ( theBestHitOnly ) {
      updateCandidatesWithBestHit(traj,std::move(meas.front()),
                  updatedTrajectories);
    }else{
      updateCandidates(traj,std::move(meas),
               updatedTrajectories);
    }
    if UNLIKELY(theDbgFlg) cout << "TSB::addGroup : updating"
                << updatedTrajectories.size() << " trajectories-1" << endl;
    } 
  }
  // keep old trajectory
  //
  updatedTrajectories.push_back(traj);
  

  if (begin+1 != end) {
    ret.reserve(4); // a good upper bound
    for (auto const & ut : updatedTrajectories) {
      if UNLIKELY(theDbgFlg) cout << "TSB::addGroup : trying to extend candidate at "
                  << &ut << " size " << ut.measurements().size() << endl;
      vector<TempTrajectory> && finalTrajectories = addGroup(ut,begin+1,end);
      if UNLIKELY(theDbgFlg) cout << "TSB::addGroup : " << finalTrajectories.size()
                  << " finalised candidates before cleaning" << endl;
      //B.M. to be ported later
      // V.I. only mark invalidate
      cleanCandidates(finalTrajectories);
      
      if UNLIKELY(theDbgFlg) {
      int ntf=0; for ( auto const & t : finalTrajectories) if (t.isValid()) ++ntf;
      cout << "TSB::addGroup : got " << ntf
           << " finalised candidates" << endl;
    }
      
      for ( auto & t : finalTrajectories) 
    if (t.isValid()) ret.push_back(std::move(t));
      
      //        ret.insert(ret.end(),make_move_iterator(finalTrajectories.begin()),
      //       make_move_iterator(finalTrajectories.end()));
    }
  } else {
    ret.reserve(updatedTrajectories.size());
    for (auto & t : updatedTrajectories)
      if (!t.empty()) ret.push_back(std::move(t));
  }
  
  //std::cout << "TrajectorySegmentBuilder::addGroup" << 
  //             " traj.empty()=" << traj.empty() << 
  //             " end-begin=" << (end-begin)  <<
  //             " #updated=" << updatedTrajectories.size() << 
  //             " #result=" << ret.size() << std::endl;
  return ret;
}

void
TrajectorySegmentBuilder::updateCandidates (TempTrajectory const & traj,
                        const vector<TM>& measurements,
                        TempTrajectoryContainer& candidates)
{
  //
  // generate updated candidates with all valid hits
  //
  for ( auto im=measurements.begin();
    im!=measurements.end(); ++im ) {
    if ( im->recHit()->isValid() ) {
      candidates.push_back(traj);
      updateTrajectory(candidates.back(),*im);
      if ( theLockHits )  lockMeasurement(*im);
    }
  }
}

void
TrajectorySegmentBuilder::updateCandidatesWithBestHit (TempTrajectory const& traj,
                               TM measurement,
                               TempTrajectoryContainer& candidates)
{
  // here we arrive with only valid hits and sorted.
  //so the best is the first!

  if ( theLockHits )  lockMeasurement(measurement);
  candidates.push_back(traj);
  updateTrajectory(candidates.back(),std::move(measurement));
}

vector<TrajectoryMeasurement>
TrajectorySegmentBuilder::redoMeasurements (const TempTrajectory& traj,
                        const DetGroup& detGroup) const
{
  vector<TM> result;
  //
  // loop over all dets
  //
  if UNLIKELY(theDbgFlg) cout << "TSB::redoMeasurements : nr. of measurements / group =";

  tracking::TempMeasurements tmps;

  for (auto const & det : detGroup) {

    pair<bool, TrajectoryStateOnSurface> compat = 
      GeomDetCompatibilityChecker().isCompatible(det.det(),
                         traj.lastMeasurement().updatedState(),
                         theGeomPropagator,theEstimator);
    
    if UNLIKELY(theDbgFlg && !compat.first) std::cout << " 0";

    if(!compat.first) continue;

    MeasurementDetWithData mdet = theLayerMeasurements->idToDet(det.det()->geographicalId());
    // verify also that first (and only!) not be inactive..
    if (mdet.measurements(compat.second, theEstimator,tmps) && tmps.hits[0]->isValid() )
      for (std::size_t i=0; i!=tmps.size(); ++i)
    result.emplace_back(compat.second,std::move(tmps.hits[i]),tmps.distances[i],&theLayer);

    if UNLIKELY(theDbgFlg) std::cout << " " << tmps.size();
    tmps.clear();
    
  }

  if UNLIKELY(theDbgFlg) cout << endl;  

  std::sort( result.begin(), result.end(), TrajMeasLessEstim());

  return result;
}

void 
TrajectorySegmentBuilder::updateWithInvalidHit (TempTrajectory& traj,
                        const vector<TMG>& groups,
                        TempTrajectoryContainer& candidates) const
{
  //
  // first try to find an inactive hit with dets crossed by the prediction,
  //   then take any inactive hit
  //
  // loop over groups
  for ( int iteration=0; iteration<2; iteration++ ) {
      for ( auto const &  gr : groups ) {
      auto const & measurements = gr.measurements();
      for ( auto im=measurements.rbegin(); im!=measurements.rend(); ++im ) {
    auto const & hit = im->recHitR();
    if ( (hit.getType()==TrackingRecHit::valid) |
         (hit.getType()==TrackingRecHit::missing) )  continue;
    //
    // check, if the extrapolation traverses the Det or
    // if 2nd iteration
    //
    if ( hit.det() ) {
      auto const & predState = im->predictedState();
      if ( iteration>0 || 
           (predState.isValid() &&
        hit.det()->surface().bounds().inside(predState.localPosition())) ) {
        // add the hit
            candidates.push_back(traj); 
            updateTrajectory(candidates.back(), *im);
        if UNLIKELY( theDbgFlg ) cout << "TrajectorySegmentBuilder::updateWithInvalidHit "
                  << "added inactive hit" << endl;
        return;
      }
    }
      }
    }
  }
  //
  // No suitable inactive hit: add a missing one
  //
  for ( int iteration=0; iteration<2; iteration++ ) {
    //
    // loop over groups
    //
    for ( auto const &  gr : groups ) {
      auto const & measurements = gr.measurements();
      for ( auto im=measurements.rbegin(); im!=measurements.rend(); ++im ) {
    // only use invalid hits
    auto const & hit = im->recHitR();
    if LIKELY( hit.isValid() )  continue;

    // check, if the extrapolation traverses the Det
    auto const & predState = im->predictedState();
    if ( iteration>0 || (predState.isValid() &&
                   hit.surface()->bounds().inside(predState.localPosition())) ) {
        // add invalid hit
            candidates.push_back(traj); 
            updateTrajectory(candidates.back(), *im);
            return;
    }
      }
    }
    if UNLIKELY( theDbgFlg && iteration==0 ) cout << "TrajectorySegmentBuilder::updateWithInvalidHit: "
                    << " did not find invalid hit on 1st iteration" << endl;
  }

  if UNLIKELY( theDbgFlg)
           cout << "TrajectorySegmentBuilder::updateWithInvalidHit: "
            << " did not find invalid hit" << endl;
}

vector<TrajectoryMeasurement>
TrajectorySegmentBuilder::unlockedMeasurements (const vector<TM>& measurements) const
{
//   if ( !theLockHits )  return measurements;

  vector<TM> result;
  result.reserve(measurements.size());

  //RecHitEqualByChannels recHitEqual(false,true);

  for ( auto const & m : measurements) {
    auto const & testHit = m.recHitR();
    if UNLIKELY( !testHit.isValid() )  continue;
    bool found(false);
    if LIKELY( theLockHits ) {
      for ( auto const & h : theLockedHits) {
    if ( h->hit()->sharesInput(testHit.hit(), TrackingRecHit::all) ) {
      found = true;
      break;
    }
      }
    }
    if LIKELY( !found )  result.push_back(m);
  }
  return result;
}

void
TrajectorySegmentBuilder::lockMeasurement (const TM& measurement)
{
  theLockedHits.push_back(measurement.recHit());
}



// ================= B.M. to be ported later ===============================
void
TrajectorySegmentBuilder::cleanCandidates (vector<TempTrajectory>& candidates) const
{
  //
  // remove candidates which are subsets of others
  // assumptions: no invalid hits and no duplicates
  //
  if ( candidates.size()<=1 )  return;
  //RecHitEqualByChannels recHitEqual(false,true);
  //
  const int NC = candidates.size();
  int index[NC]; for (int i=0; i!=NC; ++i) index[i]=i;
  std::sort(index,index+NC,[&candidates](int i, int j) { return lessByFoundHits(candidates[i],candidates[j]);});
//   cout << "SortedCandidates.foundHits";
//   for (auto i1 : index) 
//     cout << " " << candidates[i1].foundHits();
//   cout << endl;
  //
  for ( auto i1 = index; i1!=index+NC-1; ++i1) {
    // get measurements of candidate to be checked
    const TempTrajectory::DataContainer & measurements1 = candidates[*i1].measurements();
    for ( auto i2=i1+1; i2!=index+NC; ++i2 ) {
      // no duplicates: two candidates of same size are different
      if ( candidates[*i2].foundHits()==candidates[*i1].foundHits() )  continue;
      // get measurements of "reference"
      const TempTrajectory::DataContainer & measurements2 = candidates[*i2].measurements();
      //
      // use the fact that TMs are ordered:
      // start search in trajectory#1 from last hit match found
      //
      bool allFound(true);
      TempTrajectory::DataContainer::const_iterator from2 = measurements2.rbegin(), im2end = measurements2.rend();
      for ( TempTrajectory::DataContainer::const_iterator im1=measurements1.rbegin(),im1end = measurements1.rend();
        im1!=im1end; --im1 ) {
    // redundant protection - segments should not contain invalid RecHits
    // assert( im1->recHit()->isValid());
    bool found(false);
    for ( TempTrajectory::DataContainer::const_iterator im2=from2; im2!=im2end; --im2 ) {
      // redundant protection - segments should not contain invalid RecHits
      // assert (im2->recHit()->isValid());
      if ( im1->recHitR().hit()->sharesInput(im2->recHitR().hit(), TrackingRecHit::all) ) {
        found = true;
        from2 = im2; --from2;
        break;
      }
    }
    if ( !found ) {
      allFound = false;
      break;
    }
      }
      if ( allFound ) { candidates[*i1].invalidate(); statCount.invalid();}
    }
  }

}

//==================================================