#include <DTTTrigCalibration.h>

Inheritance diagram for DTTTrigCalibration:

Public Member Functions
void	analyze (const edm::Event &event, const edm::EventSetup &eventSetup) override
	Fill the time boxes. More...

	DTTTrigCalibration (const edm::ParameterSet &pset)
	Constructor. More...

void	endJob () override
	Fit the time box rising edge and write the resulting ttrig to the DB. More...

	~DTTTrigCalibration () override
	Destructor. More...

Public Member Functions inherited from edm::EDAnalyzer
void	callWhenNewProductsRegistered (std::function< void(BranchDescription const &)> const &func)

	EDAnalyzer ()

SerialTaskQueue *	globalLuminosityBlocksQueue ()

SerialTaskQueue *	globalRunsQueue ()

ModuleDescription const &	moduleDescription () const

std::string	workerType () const

	~EDAnalyzer () override

Public Member Functions inherited from edm::EDConsumerBase
std::vector< ConsumesInfo >	consumesInfo () const

void	convertCurrentProcessAlias (std::string const &processName)
	Convert "@currentProcess" in InputTag process names to the actual current process name. More...

	EDConsumerBase ()

	EDConsumerBase (EDConsumerBase &&)=default

	EDConsumerBase (EDConsumerBase const &)=delete

ESProxyIndex const *	esGetTokenIndices (edm::Transition iTrans) const

std::vector< ESProxyIndex > const &	esGetTokenIndicesVector (edm::Transition iTrans) const

std::vector< ESRecordIndex > const &	esGetTokenRecordIndicesVector (edm::Transition iTrans) const

ProductResolverIndexAndSkipBit	indexFrom (EDGetToken, BranchType, TypeID const &) const

void	itemsMayGet (BranchType, std::vector< ProductResolverIndexAndSkipBit > &) const

void	itemsToGet (BranchType, std::vector< ProductResolverIndexAndSkipBit > &) const

std::vector< ProductResolverIndexAndSkipBit > const &	itemsToGetFrom (BranchType iType) const

void	labelsForToken (EDGetToken iToken, Labels &oLabels) const

void	modulesWhoseProductsAreConsumed (std::vector< ModuleDescription const * > &modules, ProductRegistry const &preg, std::map< std::string, ModuleDescription const * > const &labelsToDesc, std::string const &processName) const

EDConsumerBase &	operator= (EDConsumerBase &&)=default

EDConsumerBase const &	operator= (EDConsumerBase const &)=delete

bool	registeredToConsume (ProductResolverIndex, bool, BranchType) const

bool	registeredToConsumeMany (TypeID const &, BranchType) const

ProductResolverIndexAndSkipBit	uncheckedIndexFrom (EDGetToken) const

void	updateLookup (BranchType iBranchType, ProductResolverIndexHelper const &, bool iPrefetchMayGet)

void	updateLookup (eventsetup::ESRecordsToProxyIndices const &)

virtual	~EDConsumerBase () noexcept(false)

Private Member Functions
void	dumpTTrigMap (const DTTtrig *tTrig) const

std::string	getOccupancyName (const DTLayerId &slId) const

std::string	getTBoxName (const DTSuperLayerId &slId) const

void	plotTTrig (const DTTtrig *tTrig) const

Private Attributes
bool	checkNoisyChannels

bool	debug

std::string	digiLabel

bool	doSubtractT0

bool	findTMeanAndSigma

double	kFactor

int	maxDigiPerLayer

int	maxTDCCounts

TFile *	theFile

std::unique_ptr< DTTimeBoxFitter >	theFitter

std::map< DTSuperLayerId, TH1F * >	theHistoMap

std::map< DTLayerId, TH1F * >	theOccupancyMap

std::unique_ptr< DTTTrigBaseSync >	theSync

Additional Inherited Members
Public Types inherited from edm::EDAnalyzer
typedef EDAnalyzer	ModuleType

Public Types inherited from edm::EDConsumerBase
typedef ProductLabels	Labels

Static Public Member Functions inherited from edm::EDAnalyzer
static const std::string &	baseType ()

static void	fillDescriptions (ConfigurationDescriptions &descriptions)

static void	prevalidate (ConfigurationDescriptions &)

static bool	wantsGlobalLuminosityBlocks ()

static bool	wantsGlobalRuns ()

static bool	wantsInputProcessBlocks ()

static bool	wantsProcessBlocks ()

static bool	wantsStreamLuminosityBlocks ()

static bool	wantsStreamRuns ()

Protected Member Functions inherited from edm::EDConsumerBase
EDGetToken	consumes (const TypeToGet &id, edm::InputTag const &tag)

template<typename ProductType , BranchType B = InEvent>
EDGetTokenT< ProductType >	consumes (edm::InputTag const &tag)

template<BranchType B = InEvent>
EDConsumerBaseAdaptor< B >	consumes (edm::InputTag tag) noexcept

template<BranchType B>
EDGetToken	consumes (TypeToGet const &id, edm::InputTag const &tag)

ConsumesCollector	consumesCollector ()
	Use a ConsumesCollector to gather consumes information from helper functions. More...

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

void	consumesMany (const TypeToGet &id)

template<BranchType B>
void	consumesMany (const TypeToGet &id)

template<typename ESProduct , typename ESRecord , Transition Tr = Transition::Event>
auto	esConsumes ()

template<Transition Tr = Transition::Event>
constexpr auto	esConsumes () noexcept

template<typename ESProduct , typename ESRecord , Transition Tr = Transition::Event>
auto	esConsumes (ESInputTag const &tag)

template<Transition Tr = Transition::Event>
auto	esConsumes (ESInputTag tag) noexcept

template<Transition Tr = Transition::Event>
ESGetTokenGeneric	esConsumes (eventsetup::EventSetupRecordKey const &iRecord, eventsetup::DataKey const &iKey)
	Used with EventSetupRecord::doGet. More...

EDGetToken	mayConsume (const TypeToGet &id, edm::InputTag const &tag)

template<BranchType B>
EDGetToken	mayConsume (const TypeToGet &id, edm::InputTag const &tag)

template<typename ProductType , BranchType B = InEvent>
EDGetTokenT< ProductType >	mayConsume (edm::InputTag const &tag)

Detailed Description

Analyzer class which fills time box plots with SL granularity for t_trig computation, fits the rising edge and write results to DB. The time boxes are written to file.

Author: G. Cerminara - INFN Torino

Definition at line 31 of file DTTTrigCalibration.h.

Constructor & Destructor Documentation

◆ DTTTrigCalibration()

DTTTrigCalibration::DTTTrigCalibration ( const edm::ParameterSet & pset )

Constructor.

Definition at line 39 of file DTTTrigCalibration.cc.

                                                                   {
   // Get the debug parameter for verbose output
   debug = pset.getUntrackedParameter<bool>("debug");
  
   // Get the label to retrieve digis from the event
   digiLabel = pset.getUntrackedParameter<string>("digiLabel");
   consumes<DTDigiCollection>(edm::InputTag(digiLabel));
  
   // Switch on/off the DB writing
   findTMeanAndSigma = pset.getUntrackedParameter<bool>("fitAndWrite", false);
  
   // The TDC time-window (ns)
   maxTDCCounts = 5000 * pset.getUntrackedParameter<int>("tdcRescale", 1);
   //The maximum number of digis per layer
   maxDigiPerLayer = pset.getUntrackedParameter<int>("maxDigiPerLayer", 10);
  
   // The root file which will contain the histos
   string rootFileName = pset.getUntrackedParameter<string>("rootFileName");
   theFile = new TFile(rootFileName.c_str(), "RECREATE");
   theFile->cd();
   theFitter = std::make_unique<DTTimeBoxFitter>();
   if (debug)
     theFitter->setVerbosity(1);
  
   double sigmaFit = pset.getUntrackedParameter<double>("sigmaTTrigFit", 10.);
   theFitter->setFitSigma(sigmaFit);
  
   doSubtractT0 = pset.getUntrackedParameter<bool>("doSubtractT0", "false");
   // Get the synchronizer
   if (doSubtractT0) {
     theSync = DTTTrigSyncFactory::get()->create(pset.getUntrackedParameter<string>("tTrigMode"),
                                                 pset.getUntrackedParameter<ParameterSet>("tTrigModeConfig"));
   }
  
   checkNoisyChannels = pset.getUntrackedParameter<bool>("checkNoisyChannels", "false");
  
   // the kfactor to be uploaded in the ttrig DB
   kFactor = pset.getUntrackedParameter<double>("kFactor", -0.7);
  
   if (debug)
     cout << "[DTTTrigCalibration]Constructor called!" << endl;
 }

References dtDigiTask_cfi::checkNoisyChannels, gather_cfg::cout, debug, DataMixerDataOnData_cff::digiLabel, get, dttriganalyzer_cfi::kFactor, muonDTDigis_cfi::pset, CSCSkim_cfi::rootFileName, and interactiveExample::theFile.

◆ ~DTTTrigCalibration()

DTTTrigCalibration::~DTTTrigCalibration ( )

override

Destructor.

Definition at line 83 of file DTTTrigCalibration.cc.

                                         {
   if (debug)
     cout << "[DTTTrigCalibration]Destructor called!" << endl;
  
   //   // Delete all histos
   //   for(map<DTSuperLayerId, TH1F*>::const_iterator slHisto = theHistoMap.begin();
   //       slHisto != theHistoMap.end();
   //       slHisto++) {
   //     delete (*slHisto).second;
   //   }
  
   theFile->Close();
 }

References gather_cfg::cout, debug, and interactiveExample::theFile.

Member Function Documentation

◆ analyze()

void DTTTrigCalibration::analyze	(	const edm::Event &	event,
		const edm::EventSetup &	eventSetup
	)

overridevirtual

Fill the time boxes.

Perform the real analysis.

Implements edm::EDAnalyzer.

Definition at line 98 of file DTTTrigCalibration.cc.

                                                                                        {
   if (debug)
     cout << "[DTTTrigCalibration] #Event: " << event.id().event() << endl;
  
   // Get the digis from the event
   Handle<DTDigiCollection> digis;
   event.getByLabel(digiLabel, digis);
  
   ESHandle<DTStatusFlag> statusMap;
   if (checkNoisyChannels) {
     // Get the map of noisy channels
     eventSetup.get<DTStatusFlagRcd>().get(statusMap);
   }
  
   if (doSubtractT0)
     theSync->setES(eventSetup);
  
   //The chambers too noisy in this event
   vector<DTChamberId> badChambers;
  
   // Iterate through all digi collections ordered by LayerId
   DTDigiCollection::DigiRangeIterator dtLayerIt;
   for (dtLayerIt = digis->begin(); dtLayerIt != digis->end(); ++dtLayerIt) {
     // Get the iterators over the digis associated with this LayerId
     const DTDigiCollection::Range& digiRange = (*dtLayerIt).second;
  
     const DTLayerId layerId = (*dtLayerIt).first;
     const DTSuperLayerId slId = layerId.superlayerId();
     const DTChamberId chId = slId.chamberId();
     bool badChamber = false;
  
     if (debug)
       cout << "----------- Layer " << layerId << " -------------" << endl;
  
     //Check if the layer is inside a noisy chamber
     for (vector<DTChamberId>::const_iterator chamber = badChambers.begin(); chamber != badChambers.end(); ++chamber) {
       if ((*chamber) == chId) {
         badChamber = true;
         break;
       }
     }
     if (badChamber)
       continue;
  
     //Check if the layer has too many digis
     if ((digiRange.second - digiRange.first) > maxDigiPerLayer) {
       if (debug)
         cout << "Layer " << layerId << "has too many digis (" << (digiRange.second - digiRange.first) << ")" << endl;
       badChambers.push_back(chId);
       continue;
     }
  
     // Get the histo from the map
     TH1F* hTBox = theHistoMap[slId];
     if (hTBox == nullptr) {
       // Book the histogram
       theFile->cd();
       hTBox =
           new TH1F(getTBoxName(slId).c_str(), "Time box (ns)", int(0.25 * 32.0 * maxTDCCounts / 25.0), 0, maxTDCCounts);
       if (debug)
         cout << "  New Time Box: " << hTBox->GetName() << endl;
       theHistoMap[slId] = hTBox;
     }
     TH1F* hO = theOccupancyMap[layerId];
     if (hO == nullptr) {
       // Book the histogram
       theFile->cd();
       hO = new TH1F(getOccupancyName(layerId).c_str(), "Occupancy", 100, 0, 100);
       if (debug)
         cout << "  New Time Box: " << hO->GetName() << endl;
       theOccupancyMap[layerId] = hO;
     }
  
     // Loop over all digis in the given range
     for (DTDigiCollection::const_iterator digi = digiRange.first; digi != digiRange.second; ++digi) {
       const DTWireId wireId(layerId, (*digi).wire());
  
       // Check for noisy channels and skip them
       if (checkNoisyChannels) {
         bool isNoisy = false;
         bool isFEMasked = false;
         bool isTDCMasked = false;
         bool isTrigMask = false;
         bool isDead = false;
         bool isNohv = false;
         statusMap->cellStatus(wireId, isNoisy, isFEMasked, isTDCMasked, isTrigMask, isDead, isNohv);
         if (isNoisy) {
           if (debug)
             cout << "Wire: " << wireId << " is noisy, skipping!" << endl;
           continue;
         }
       }
       theFile->cd();
       double offset = 0;
       if (doSubtractT0) {
         const DTLayer* layer = nullptr;  //fake
         const GlobalPoint glPt;          //fake
         offset = theSync->offset(layer, wireId, glPt);
       }
       hTBox->Fill((*digi).time() - offset);
       if (debug) {
         cout << "   Filling Time Box:   " << hTBox->GetName() << endl;
         cout << "           offset (ns): " << offset << endl;
         cout << "           time(ns):   " << (*digi).time() - offset << endl;
       }
       hO->Fill((*digi).wire());
     }
   }
 }

References DTStatusFlag::cellStatus(), relativeConstraints::chamber, DTSuperLayerId::chamberId(), dtDigiTask_cfi::checkNoisyChannels, gather_cfg::cout, debug, DataMixerDataOnData_cff::digiLabel, edm::EventSetup::get(), get, hltrates_dqm_sourceclient-live_cfg::offset, DTLayerId::superlayerId(), and interactiveExample::theFile.

◆ dumpTTrigMap()

void DTTTrigCalibration::dumpTTrigMap ( const DTTtrig * tTrig ) const

private

Definition at line 274 of file DTTTrigCalibration.cc.

                                                                 {
   static const double convToNs = 25. / 32.;
   for (DTTtrig::const_iterator ttrig = tTrig->begin(); ttrig != tTrig->end(); ++ttrig) {
     cout << "Wh: " << (*ttrig).first.wheelId << " St: " << (*ttrig).first.stationId
          << " Sc: " << (*ttrig).first.sectorId << " Sl: " << (*ttrig).first.slId
          << " TTrig mean (ns): " << (*ttrig).second.tTrig * convToNs
          << " TTrig sigma (ns): " << (*ttrig).second.tTrms * convToNs << endl;
   }
 }

References gather_cfg::cout, and dttriganalyzer_cfi::tTrig.

◆ endJob()

void DTTTrigCalibration::endJob ( void )

overridevirtual

Fit the time box rising edge and write the resulting ttrig to the DB.

Reimplemented from edm::EDAnalyzer.

Definition at line 208 of file DTTTrigCalibration.cc.

                                 {
   if (debug)
     cout << "[DTTTrigCalibration]Writing histos to file!" << endl;
  
   // Write all time boxes to file
   theFile->cd();
   for (map<DTSuperLayerId, TH1F*>::const_iterator slHisto = theHistoMap.begin(); slHisto != theHistoMap.end();
        ++slHisto) {
     (*slHisto).second->Write();
   }
   for (map<DTLayerId, TH1F*>::const_iterator slHisto = theOccupancyMap.begin(); slHisto != theOccupancyMap.end();
        ++slHisto) {
     (*slHisto).second->Write();
   }
  
   if (findTMeanAndSigma) {
     // Create the object to be written to DB
     DTTtrig* tTrig = new DTTtrig();
  
     // Loop over the map, fit the histos and write the resulting values to the DB
     for (map<DTSuperLayerId, TH1F*>::const_iterator slHisto = theHistoMap.begin(); slHisto != theHistoMap.end();
          ++slHisto) {
       pair<double, double> meanAndSigma = theFitter->fitTimeBox((*slHisto).second);
       tTrig->set((*slHisto).first, meanAndSigma.first, meanAndSigma.second, kFactor, DTTimeUnits::ns);
  
       if (debug) {
         cout << " SL: " << (*slHisto).first << " mean = " << meanAndSigma.first << " sigma = " << meanAndSigma.second
              << endl;
       }
     }
  
     // Print the ttrig map
     dumpTTrigMap(tTrig);
  
     // Plot the tTrig
     plotTTrig(tTrig);
  
     if (debug)
       cout << "[DTTTrigCalibration]Writing ttrig object to DB!" << endl;
  
     // FIXME: to be read from cfg?
     string tTrigRecord = "DTTtrigRcd";
  
     // Write the object to DB
     DTCalibDBUtils::writeToDB(tTrigRecord, tTrig);
   }
 }

References gather_cfg::cout, debug, dttriganalyzer_cfi::kFactor, DTTimeUnits::ns, interactiveExample::theFile, dttriganalyzer_cfi::tTrig, and DTCalibDBUtils::writeToDB().

Referenced by o2olib.O2ORunMgr::executeJob().

◆ getOccupancyName()

string DTTTrigCalibration::getOccupancyName ( const DTLayerId & slId ) const

private

Definition at line 265 of file DTTTrigCalibration.cc.

                                                                        {
   string histoName;
   stringstream theStream;
   theStream << "Ch_" << slId.wheel() << "_" << slId.station() << "_" << slId.sector() << "_SL" << slId.superlayer()
             << "_L" << slId.layer() << "_Occupancy";
   theStream >> histoName;
   return histoName;
 }

References HltBtagPostValidation_cff::histoName, DTLayerId::layer(), DTChamberId::sector(), DTChamberId::station(), DTSuperLayerId::superlayer(), and DTChamberId::wheel().

◆ getTBoxName()

string DTTTrigCalibration::getTBoxName ( const DTSuperLayerId & slId ) const

private

Definition at line 256 of file DTTTrigCalibration.cc.

                                                                        {
   string histoName;
   stringstream theStream;
   theStream << "Ch_" << slId.wheel() << "_" << slId.station() << "_" << slId.sector() << "_SL" << slId.superlayer()
             << "_hTimeBox";
   theStream >> histoName;
   return histoName;
 }

References HltBtagPostValidation_cff::histoName, DTChamberId::sector(), DTChamberId::station(), DTSuperLayerId::superlayer(), and DTChamberId::wheel().

◆ plotTTrig()

void DTTTrigCalibration::plotTTrig ( const DTTtrig * tTrig ) const

private

Definition at line 284 of file DTTTrigCalibration.cc.

                                                              {
   TH1F* tTrig_YB1_Se10 = new TH1F("tTrig_YB1_Se10", "tTrig YB1_Se10", 15, 1, 16);
   TH1F* tTrig_YB2_Se10 = new TH1F("tTrig_YB2_Se10", "tTrig YB2_Se10", 15, 1, 16);
   TH1F* tTrig_YB2_Se11 = new TH1F("tTrig_YB2_Se11", "tTrig YB2_Se11", 12, 1, 13);
  
   static const double convToNs = 25. / 32.;
   for (DTTtrig::const_iterator ttrig = tTrig->begin(); ttrig != tTrig->end(); ++ttrig) {
     // avoid to have wired numbers in the plot
     float tTrigValue = 0;
     float tTrmsValue = 0;
     if ((*ttrig).second.tTrig * convToNs > 0 && (*ttrig).second.tTrig * convToNs < 32000) {
       tTrigValue = (*ttrig).second.tTrig * convToNs;
       tTrmsValue = (*ttrig).second.tTrms * convToNs;
     }
  
     int binx;
     string binLabel;
     stringstream binLabelStream;
     if ((*ttrig).first.sectorId != 14) {
       binx = ((*ttrig).first.stationId - 1) * 3 + (*ttrig).first.slId;
       binLabelStream << "MB" << (*ttrig).first.stationId << "_SL" << (*ttrig).first.slId;
     } else {
       binx = 12 + (*ttrig).first.slId;
       binLabelStream << "MB14_SL" << (*ttrig).first.slId;
     }
     binLabelStream >> binLabel;
  
     if ((*ttrig).first.wheelId == 2) {
       if ((*ttrig).first.sectorId == 10 || (*ttrig).first.sectorId == 14) {
         tTrig_YB2_Se10->Fill(binx, tTrigValue);
         tTrig_YB2_Se10->SetBinError(binx, tTrmsValue);
         tTrig_YB2_Se10->GetXaxis()->SetBinLabel(binx, binLabel.c_str());
         tTrig_YB2_Se10->GetYaxis()->SetTitle("ns");
       } else {
         tTrig_YB2_Se11->Fill(binx, tTrigValue);
         tTrig_YB2_Se11->SetBinError(binx, tTrmsValue);
         tTrig_YB2_Se11->GetXaxis()->SetBinLabel(binx, binLabel.c_str());
         tTrig_YB2_Se11->GetYaxis()->SetTitle("ns");
       }
     } else {
       tTrig_YB1_Se10->Fill(binx, tTrigValue);
       tTrig_YB1_Se10->SetBinError(binx, tTrmsValue);
       tTrig_YB1_Se10->GetXaxis()->SetBinLabel(binx, binLabel.c_str());
       tTrig_YB1_Se10->GetYaxis()->SetTitle("ns");
     }
   }
  
   tTrig_YB1_Se10->Write();
   tTrig_YB2_Se10->Write();
   tTrig_YB2_Se11->Write();
 }

References dttriganalyzer_cfi::tTrig.

Member Data Documentation

◆ checkNoisyChannels

bool DTTTrigCalibration::checkNoisyChannels

private

Definition at line 81 of file DTTTrigCalibration.h.

◆ debug

bool DTTTrigCalibration::debug

private

Definition at line 61 of file DTTTrigCalibration.h.

Referenced by util.rrapi.RRApi::dprint(), rrapi.RRApi::dprint(), pkg.AbstractPkg::generate(), rrapi.RRApi::get(), util.rrapi.RRApi::get(), pkg.AbstractPkg::get_kwds(), runTauIdMVA.TauIDEmbedder::loadMVA_WPs_run2_2017(), runTauIdMVA.TauIDEmbedder::runTauID(), crabFunctions.CrabController::submit(), and pkg.AbstractPkg::write().

◆ digiLabel

std::string DTTTrigCalibration::digiLabel

private

Definition at line 64 of file DTTTrigCalibration.h.

◆ doSubtractT0

bool DTTTrigCalibration::doSubtractT0

private

Definition at line 79 of file DTTTrigCalibration.h.

◆ findTMeanAndSigma

bool DTTTrigCalibration::findTMeanAndSigma

private

Definition at line 83 of file DTTTrigCalibration.h.

◆ kFactor

double DTTTrigCalibration::kFactor

private

Definition at line 85 of file DTTTrigCalibration.h.

◆ maxDigiPerLayer

int DTTTrigCalibration::maxDigiPerLayer

private

Definition at line 69 of file DTTTrigCalibration.h.

◆ maxTDCCounts

int DTTTrigCalibration::maxTDCCounts

private

Definition at line 67 of file DTTTrigCalibration.h.

◆ theFile

TFile* DTTTrigCalibration::theFile

private

Definition at line 72 of file DTTTrigCalibration.h.

◆ theFitter

std::unique_ptr<DTTimeBoxFitter> DTTTrigCalibration::theFitter

private

Definition at line 88 of file DTTTrigCalibration.h.

◆ theHistoMap

std::map<DTSuperLayerId, TH1F*> DTTTrigCalibration::theHistoMap

private

Definition at line 75 of file DTTTrigCalibration.h.

◆ theOccupancyMap

std::map<DTLayerId, TH1F*> DTTTrigCalibration::theOccupancyMap

private

Definition at line 76 of file DTTTrigCalibration.h.

◆ theSync

std::unique_ptr<DTTTrigBaseSync> DTTTrigCalibration::theSync

private

Definition at line 90 of file DTTTrigCalibration.h.

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DTTTrigCalibration()

◆ ~DTTTrigCalibration()

Member Function Documentation

◆ analyze()

◆ dumpTTrigMap()

◆ endJob()

◆ getOccupancyName()

◆ getTBoxName()

◆ plotTTrig()

Member Data Documentation

◆ checkNoisyChannels

◆ debug

◆ digiLabel

◆ doSubtractT0

◆ findTMeanAndSigma

◆ kFactor

◆ maxDigiPerLayer

◆ maxTDCCounts

◆ theFile

◆ theFitter

◆ theHistoMap

◆ theOccupancyMap

◆ theSync