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TrajectorySegmentBuilder.cc

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#include "RecoTracker/CkfPattern/interface/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/PatternTools/interface/MeasurementEstimator.h"
#include "TrackingTools/PatternTools/interface/Trajectory.h"
#include "TrackingTools/PatternTools/interface/TrajectoryMeasurement.h"
#include "TrackingTools/MeasurementDet/interface/TrajectoryMeasurementGroup.h"
#include "TrackingTools/DetLayers/interface/DetGroup.h"
#include "TrackingTools/DetLayers/interface/DetLayer.h"
#include "RecoTracker/CkfPattern/src/TrajectoryLessByFoundHits.h"
#include "TrackingTools/PatternTools/interface/TrajectoryStateUpdator.h"
#include "TrackingTools/DetLayers/interface/GeomDetCompatibilityChecker.h"
#include "TrackingTools/MeasurementDet/interface/MeasurementDet.h"

#include <algorithm> 

// #define DBG_TSB

using namespace std;

TrajectorySegmentBuilder::TempTrajectoryContainer
TrajectorySegmentBuilder::segments (const TSOS startingState)
{
  //
  // create empty trajectory
  //
  theLockedHits.clear();
  TrajectorySeed invalidSeed;
  TempTrajectory startingTrajectory(invalidSeed,theFullPropagator.propagationDirection());
  //
  // get measurement groups
  //
  vector<TMG> measGroups = 
    theLayerMeasurements->groupedMeasurements(theLayer,startingState,theFullPropagator,theEstimator);
    //B.M. theLayer.groupedMeasurements(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

  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;
    }  
  }

#ifdef DBG_TSB
//   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 (theDbgFlg) cout << "TSB: back with " << candidates.size() << " candidates" << endl;
  // clean
  //
  //
  // add invalid hit - try to get first detector hit by the extrapolation
  //

  updateWithInvalidHit(startingTrajectory,measGroups,candidates);
  if (theDbgFlg) cout << "TSB: " << candidates.size() << " candidates after invalid hit" << endl;
  return candidates;
}

void TrajectorySegmentBuilder::updateTrajectory (TempTrajectory& traj,
                                                 const TM& tm) const
{
  TSOS predictedState = tm.predictedState();
  ConstRecHitPointer hit = tm.recHit();
 
  if ( hit->isValid()) {
    traj.push( TM( predictedState, theUpdator.update( predictedState, *hit),
                   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.) ) {
//      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.push( TM( predictedState, hit,0, tm.layer()));
  }
}


TrajectorySegmentBuilder::TempTrajectoryContainer
TrajectorySegmentBuilder::addGroup (TempTrajectory& 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 (theDbgFlg) cout << "TSB::addGroup : no groups left" << endl;
    if ( !traj.empty() )
      ret.push_back(traj);
    return ret;
  }
  
  if (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() ) {
    vector<TM> firstMeasurements = unlockedMeasurements(begin->measurements());
    if ( theBestHitOnly )
      updateCandidatesWithBestHit(traj,firstMeasurements,updatedTrajectories);
    else
      updateCandidates(traj,begin->measurements(),updatedTrajectories);
    if (theDbgFlg) cout << "TSB::addGroup : updating with first group - "
                        << updatedTrajectories.size() << " trajectories" << endl;
  }
  else {
    if ( theBestHitOnly )
      updateCandidatesWithBestHit(traj,redoMeasurements(traj,begin->detGroup()),
                                  updatedTrajectories);
    else
      updateCandidates(traj,redoMeasurements(traj,begin->detGroup()),
                       updatedTrajectories);
    if (theDbgFlg) cout << "TSB::addGroup : updating"
                        << updatedTrajectories.size() << " trajectories" << endl;
  }

  if (begin+1 != end) {
      ret.reserve(4); // a good upper bound
      for ( TempTrajectoryContainer::iterator it=updatedTrajectories.begin();
            it!=updatedTrajectories.end(); ++it ) {
        if (theDbgFlg) cout << "TSB::addGroup : trying to extend candidate at "
                            << &(*it) << " size " << it->measurements().size() << endl;
        vector<TempTrajectory> finalTrajectories = addGroup(*it,begin+1,end);
        if (theDbgFlg) cout << "TSB::addGroup : " << finalTrajectories.size()
                            << " finalised candidates before cleaning" << endl;
        //B.M. to be ported later
        cleanCandidates(finalTrajectories);

        if (theDbgFlg) cout << "TSB::addGroup : got " << finalTrajectories.size()
                            << " finalised candidates" << endl;
        ret.insert(ret.end(),finalTrajectories.begin(),
                      finalTrajectories.end());
      }
  } else {
      ret.reserve(updatedTrajectories.size());
      for (TempTrajectoryContainer::iterator it=updatedTrajectories.begin(); 
              it!=updatedTrajectories.end(); ++it ) { 
        if (!it->empty()) ret.push_back(*it);
      }
  }

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

void
TrajectorySegmentBuilder::updateCandidatesWithBestHit (TempTrajectory& traj,
                                                       const vector<TM>& measurements,
                                                       TempTrajectoryContainer& candidates)
{
  vector<TM>::const_iterator ibest = measurements.end();
  bool bestIsValid = false;
  for ( vector<TM>::const_iterator im=measurements.begin();
        im!=measurements.end(); ++im ) {
    if ( im->recHit()->isValid() ) {
        if (!bestIsValid || (ibest==measurements.end()) || (im->estimate()<ibest->estimate()) )  {
            ibest = im;
            bestIsValid = true;
        }
    } 
//     else if (!bestIsValid && (im->recHit()->getType() != TrackingRecHit::missing)) {
//         if (ibest==measurements.end()) ibest = im;
//     }
  }
  if ( ibest!=measurements.end() ) {
    if ( theLockHits )  lockMeasurement(*ibest);
    candidates.push_back(traj);
    updateTrajectory(candidates.back(),*ibest);
    if ( theDbgFlg ) {
      if (bestIsValid) {
          cout << "TSB: found best measurement at " 
               << ibest->recHit()->globalPosition().perp() << " "
               << ibest->recHit()->globalPosition().phi() << " "
               << ibest->recHit()->globalPosition().z() << endl;
      } else {
        cout << "TSB: found best measurement at invalid hit on det " << ibest->recHit()->geographicalId().rawId() << endl;
      }
    }
  }
  //
  // keep old trajectorTempy
  //
  candidates.push_back(traj);
}

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

  for (DetGroup::const_iterator idet=detGroup.begin(); 
       idet!=detGroup.end(); ++idet) {
    //
    // ======== ask for measurements ==============       
    //B.M vector<TM> tmp = idet->det()->measurements(traj.lastMeasurement().updatedState(),
    //                                         theGeomPropagator,theEstimator);
    
    pair<bool, TrajectoryStateOnSurface> compat = 
      GeomDetCompatibilityChecker().isCompatible(idet->det(),
                                                 traj.lastMeasurement().updatedState(),
                                                 theGeomPropagator,theEstimator);
    
    vector<TM> tmp; 
    if(compat.first){
      const MeasurementDet* mdet = theMeasurementTracker->idToDet(idet->det()->geographicalId());
      tmp = mdet->fastMeasurements( compat.second, idet->trajectoryState(), theGeomPropagator, theEstimator);
    }

    //perhaps could be enough just:
    //vector<TM> tmp = mdet->fastMeasurements( idet->trajectoryState(),
    //                                       traj.lastMeasurement().updatedState(),
    //                                       theGeomPropagator, theEstimator);
    // ==================================================

    if ( tmp.empty() )  continue;
    //
    // only collect valid RecHits
    //
    vector<TM>::iterator end = (tmp.back().recHit()->getType() != TrackingRecHit::missing ? tmp.end() : tmp.end()-1);
    if (theDbgFlg) cout << " " << tmp.size();
    tmpResult.insert(tmpResult.end(),tmp.begin(),end);
  }
  if (theDbgFlg) cout << endl;
  //
  // set layer in TM, because the Det cannot do it
  //
  for(vector<TM>::const_iterator tmpIt=tmpResult.begin();tmpIt!=tmpResult.end();++tmpIt){
    if ( tmpIt->recHit()->isValid() )
      result.push_back(  TrajectoryMeasurement(tmpIt->predictedState(),tmpIt->recHit(),tmpIt->estimate(),&theLayer)  );
  }
  
  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 ( vector<TMG>::const_iterator ig=groups.begin(); ig!=groups.end(); ++ig) {
      // loop over measurements
      const vector<TM>& measurements = ig->measurements();
      for ( vector<TM>::const_reverse_iterator im=measurements.rbegin();
            im!=measurements.rend(); ++im ) {
        ConstRecHitPointer hit = im->recHit();
        if ( hit->getType()==TrackingRecHit::valid ||
             hit->getType()==TrackingRecHit::missing )  continue;
        //
        // check, if the extrapolation traverses the Det or
        // if 2nd iteration
        //
        if ( hit->det() ) {
          TSOS predState(im->predictedState());
          if ( iteration>0 || 
               (predState.isValid() &&
                hit->det()->surface().bounds().inside(predState.localPosition())) ) {
            // add the hit
            /*TempTrajectory newTraj(traj);
            updateTrajectory(newTraj,*im);
            candidates.push_back(newTraj);  // FIXME: avoid useless copy */
            candidates.push_back(traj); 
            updateTrajectory(candidates.back(), *im);
            if ( theDbgFlg ) cout << "TrajectorySegmentBuilder::updateWithInvalidHit "
                                  << "added inactive hit" << endl;
            return;
          }
        }
      }
    }
  }
  //
  // No suitable inactive hit: add a missing one
  //
  bool found(false);
  for ( int iteration=0; iteration<2; iteration++ ) {
    //
    // loop over groups
    //
    for ( vector<TMG>::const_iterator ig=groups.begin();
          ig!=groups.end(); ++ig) {
      const vector<TM>& measurements = ig->measurements();
      for ( vector<TM>::const_reverse_iterator im=measurements.rbegin();
            im!=measurements.rend(); ++im ) {
        //
        // only use invalid hits
        //
        ConstRecHitPointer hit = im->recHit();
        if ( hit->isValid() )  continue;

        //
        // check, if the extrapolation traverses the Det
        //
        TSOS predState(im->predictedState());
        if(hit->det()){ 
          if ( iteration>0 || (predState.isValid() &&
                               hit->det()->surface().bounds().inside(predState.localPosition())) ) {
            // add invalid hit
            /*TempTrajectory newTraj(traj);
            updateTrajectory(newTraj,*im);
            candidates.push_back(newTraj);  // FIXME: avoid useless copy */
            candidates.push_back(traj); 
            updateTrajectory(candidates.back(), *im);
            found = true;
            break;
          }

        }else{
          if ( iteration>0 || (predState.isValid() &&
                               im->layer()->surface().bounds().inside(predState.localPosition())) ){
            // add invalid hit
            /*TempTrajectory newTraj(traj);
            updateTrajectory(newTraj,*im);
            candidates.push_back(newTraj);  // FIXME: avoid useless copy */
            candidates.push_back(traj); 
            updateTrajectory(candidates.back(), *im);
            found = true;
            break;          
          }
        }
      }
      if ( found )  break;
    }
    if ( theDbgFlg && !found ) cout << "TrajectorySegmentBuilder::updateWithInvalidHit: "
                                    << " did not find invalid hit on 1st iteration" << endl;
    if ( found )  break;
  }
  if ( !found ) {
    if (theDbgFlg) cout << "TrajectorySegmentBuilder::updateWithInvalidHit: "
                        << " did not find invalid hit" << endl;
  }
}

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

  //========== B.M. to be ported later ===============
  vector<TM> result;
  result.reserve(measurements.size());

  //RecHitEqualByChannels recHitEqual(false,true);

  for ( vector<TM>::const_iterator im=measurements.begin();
        im!=measurements.end(); ++im ) {
    ConstRecHitPointer testHit = im->recHit();
    if ( !testHit->isValid() )  continue;
    bool found(false);
    if ( theLockHits ) {
      for ( ConstRecHitContainer::const_iterator ih=theLockedHits.begin();
            ih!=theLockedHits.end(); ++ih ) {
        if ( (*ih)->hit()->sharesInput(testHit->hit(), TrackingRecHit::all) ) {
          found = true;
          break;
        }
      }
    }
    if ( !found )  result.push_back(*im);
  }
  return result;
  //================================= 
  //return measurements; // temporary solution before RecHitEqualByChannels is ported
}

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);
  //
  vector<TempTrajectory> sortedCandidates(candidates);
  sort(sortedCandidates.begin(),sortedCandidates.end(),TrajectoryLessByFoundHits());
//   cout << "SortedCandidates.foundHits";
//   for ( vector<Trajectory>::iterator i1=sortedCandidates.begin();
//      i1!=sortedCandidates.end(); i1++ ) 
//     cout << " " << i1->foundHits();
//   cout << endl;
  //
  for ( vector<TempTrajectory>::iterator i1=sortedCandidates.begin();
        i1!=sortedCandidates.end()-1; ++i1 ) {
    // get measurements of candidate to be checked
    const TempTrajectory::DataContainer & measurements1 = i1->measurements();
    for ( vector<TempTrajectory>::iterator i2=i1+1;
          i2!=sortedCandidates.end(); ++i2 ) {
      // no duplicates: two candidates of same size are different
      if ( i2->foundHits()==i1->foundHits() )  continue;
      // get measurements of "reference"
      const TempTrajectory::DataContainer & measurements2 = 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
        if ( !im1->recHit()->isValid() )  continue;
        bool found(false);
        for ( TempTrajectory::DataContainer::const_iterator im2=from2;
              im2!=im2end; --im2 ) {
          // redundant protection - segments should not contain invalid RecHits
          if ( !im2->recHit()->isValid() )  continue;
          if ( im1->recHit()->hit()->sharesInput(im2->recHit()->hit(), TrackingRecHit::all) ) {
            found = true;
            from2 = im2; --from2;
            break;
          }
        }
        if ( !found ) {
          allFound = false;
          break;
        }
      }
      if ( allFound )  i1->invalidate();
    }
  }
/*
  candidates.clear();
  for ( vector<Trajectory>::const_iterator i=sortedCandidates.begin();
        i!=sortedCandidates.end(); i++ ) {
    if ( i->isValid() )  candidates.push_back(*i);
  }
*/
  candidates.erase(std::remove_if( candidates.begin(),candidates.end(),
                                   std::not1(std::mem_fun_ref(&TempTrajectory::isValid))),
 //                                boost::bind(&TempTrajectory::isValid,_1)), 
                                   candidates.end()); 
#ifdef DBG_TSB
  cout << "TSB: cleanCandidates: reduced from " << sortedCandidates.size()
       << " to " << candidates.size() << " candidates" << endl;
#endif
  return;
}

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

---