ATLAS Offline Software
SegmentActsRefitAlg.cxx
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1 /*
2  Copyright (C) 2002-2025 CERN for the benefit of the ATLAS collaboration
3 */
4 
5 #include "SegmentActsRefitAlg.h"
6 
7 #include "ActsCalibBase/CalibrationContext.h"
8 #include "ActsCalibrators/xAODUncalibMeasCalibrator.h"
9 #include "EventPrimitives/EventPrimitivesHelpers.h"
10 #include "xAODMuon/MuonSegmentAuxContainer.h"
11 #include "StoreGate/WriteDecorHandle.h"
12 
13 #include "MuonTrackEvent/TrackingHelpers.h"
14 #include "MuonPatternEvent/SegmentFitterEventData.h"
15 #include "GeoPrimitives/GeoPrimitivesToStringConverter.h"
16 #include "MuonReadoutGeometryR4/SpectrometerSector.h"
17 #include "GaudiKernel/PhysicalConstants.h"
18 #include <AthenaKernel/RNGWrapper.h>
19 #include "CLHEP/Random/RandGaussZiggurat.h"
20 #include "xAODTracking/TrackSurfaceAuxContainer.h"
21 #include "xAODTracking/TrackStateAuxContainer.h"
22 #include "ActsCalibrators/xAODUncalibMeasSurfAcc.h"
23 #include "MuonVisualizationHelpersR4/ObjVisualizationHelpers.h"
24 
25 #include "Acts/Surfaces/PlaneSurface.hpp"
26 #include "ActsInterop/UnitConverters.h"
27 
28 using namespace Acts::UnitLiterals;
29 namespace{
30  constexpr double straightQoverP = 1. / (100._TeV);
31  constexpr double pseudoSurfDist = 5.*Gaudi::Units::cm;
32  using ProjectorType = ActsTrk::detail::MeasurementCalibratorBase::ProjectorType;
33 }
34 
35 
36 namespace MuonR4{
37  using namespace SegmentFit;
38 
39  StatusCode SegmentActsRefitAlg::initialize(){
40  ATH_CHECK(m_readKey.initialize());
41  ATH_CHECK(m_writeKey.initialize());
42  ATH_CHECK(m_linkKey.initialize());
43  ATH_CHECK(m_localParsKey.initialize());
44  ATH_CHECK(m_seedParsKey.initialize());
45  ATH_CHECK(m_surfKey.initialize());
46  ATH_CHECK(m_auxMeasProv.initialize(m_writeKey.key()));
47 
48  ATH_CHECK(m_idHelperSvc.retrieve());
49  ATH_CHECK(m_trackFitTool.retrieve());
50  ATH_CHECK(m_trackingGeometryTool.retrieve());
51  ATH_CHECK(m_extrapolationTool.retrieve());
52  ATH_CHECK(m_segSelector.retrieve());
53  ATH_CHECK(detStore()->retrieve(m_detMgr));
54 
55  auto trkGeo = m_trackingGeometryTool->trackingGeometry();
56  trkGeo->visitSurfaces([this](const Acts::Surface* surf){
57  const auto detEl = surf->associatedDetectorElement();
58  if (!detEl) {
59  ATH_MSG_ALWAYS("Insensitive surface "<<surf->geometryId());
60  return;
61  }
62  const auto* det = static_cast<const ActsTrk::IDetectorElementBase*>(detEl);
63  if (!m_idHelperSvc->isMuon(det->identify())){
64  return;
65  }
66  ATH_MSG_ALWAYS("Sensitive muon surface "<<m_idHelperSvc->toString(det->identify())<<" -> geoId: "
67  <<surf->geometryId());
68 
69  });
70  return StatusCode::SUCCESS;
71  }
72  std::tuple<Amg::Vector3D, Amg::Vector3D>
73  SegmentActsRefitAlg::smearSegment(const ActsTrk::GeometryContext& gctx,
74  const MuonR4::Segment& segment,
75  CLHEP::HepRandomEngine* engine) const{
76  // return std::make_pair(segment.position(), segment.direction()* (segment.direction().z() < 0 ? -1. : 1.));
77  const auto segPars = localSegmentPars(gctx, segment);
78  auto smearedPars = segPars;
80  for (ParamDefs precPar : {ParamDefs::y0, ParamDefs::theta,
81  ParamDefs::x0, ParamDefs::phi}) {
82  if (precPar == ParamDefs::phi && !segment.summary().nPhiHits) {
83  break;
84  }
85  const unsigned idx = Acts::toUnderlying(precPar);
86  const double uncert = Amg::error(segment.covariance(), idx) * m_smearRange;
87  smearedPars[idx] = CLHEP::RandGaussZiggurat::shoot(engine, segPars[idx], uncert);
88  ATH_MSG_VERBOSE("Apply smearing to "<<SeedingAux::parName(precPar)
89  <<" parameter -- cov: "<<uncert
90  <<", original: "<<segPars[idx]<<", smeared: "<<smearedPars[idx]<<", deviation: "
91  <<(smearedPars[idx] - segPars[idx]) / uncert );
92 
93  }
94  auto [smearLocPos, smearLocDir] = makeLine(smearedPars);
95  const auto [locPos, locDir] = makeLine(segPars);
97  if (SeedingAux::strawSigns(locPos,locDir, segment.measurements()) !=
98  SeedingAux::strawSigns(smearLocPos, smearLocDir, segment.measurements())) {
99  ATH_MSG_ALWAYS("Parameter smearng from "<<toString(segPars)<<" -> "<<toString(smearedPars)
100  <<" changes the L/R ambiguity -> avoid for this test");
101  return smearSegment(gctx, segment, engine);
102  }
103 
104  const Amg::Transform3D& locToGlob{segment.msSector()->localToGlobalTrans(gctx)};
105  if (smearLocDir.z() < 0) {
106  smearLocDir = -smearLocDir;
107  }
108  return std::make_tuple(locToGlob * smearLocPos, locToGlob.linear() * smearLocDir);
109  }
110  StatusCode SegmentActsRefitAlg::execute(const EventContext& ctx) const {
111 
112  const xAOD::MuonSegmentContainer* segments{nullptr};
113  ATH_CHECK(SG::get(segments, m_readKey, ctx));
115  const ActsTrk::GeometryContext& gctx{m_trackingGeometryTool->getGeometryContext(ctx)};
116  const Acts::GeometryContext tgContext = gctx.context();
117  const Acts::MagneticFieldContext mfContext = m_extrapolationTool->getMagneticFieldContext(ctx);
118  const Acts::CalibrationContext calContext = ActsTrk::getCalibrationContext(ctx);
119 
121  ATHRNG::RNGWrapper* rngWrapper = m_rndmSvc->getEngine(this, name());
122  rngWrapper->setSeed(name(), ctx);
123  CLHEP::HepRandomEngine* randEngine = rngWrapper->getEngine(ctx);
124 
125  SG::WriteHandle outHandle{m_writeKey, ctx};
126  ATH_CHECK(outHandle.record(std::make_unique<xAOD::MuonSegmentContainer>(),
127  std::make_unique<xAOD::MuonSegmentAuxContainer>()));
128 
129  SG::WriteHandle surfaceHandle{m_surfKey, ctx};
130  ATH_CHECK(surfaceHandle.record(std::make_unique<xAOD::TrackSurfaceContainer>(),
131  std::make_unique<xAOD::TrackStateAuxContainer>()));
132 
133  ActsTrk::detail::xAODUncalibMeasSurfAcc surfAcc{};
134  auto auxMeasHandle = m_auxMeasProv.makeHandle(ctx, *surfaceHandle);
135 
136  using Link_t = ElementLink<xAOD::MuonSegmentContainer>;
137  SG::WriteDecorHandle<xAOD::MuonSegmentContainer, Link_t> dec_segLink{m_linkKey, ctx};
138  using ParDecor_t = SG::WriteDecorHandle<xAOD::MuonSegmentContainer,
139  xAOD::MeasVector<Acts::toUnderlying(ParamDefs::nPars)>>;
140 
141  ParDecor_t dec_locPars{m_localParsKey, ctx};
142  ParDecor_t dec_seedPars{m_seedParsKey, ctx};
143 
144  Acts::ObjVisualization3D visualHelper{};
145 
147  for (const xAOD::MuonSegment* reFitMe: *segments){
148  const auto msSector = m_detMgr->getSectorEnvelope(reFitMe->chamberIndex(),
149  reFitMe->sector(),
150  reFitMe->etaIndex());
151  const Amg::Transform3D& sectorTrf{msSector->localToGlobalTrans(gctx)};
152 
154  const auto [seedPos, seedDir] = smearSegment(gctx, *MuonR4::detailedSegment(*reFitMe), randEngine);
156  {
157  auto invTrf = sectorTrf.inverse();
158  const Amg::Vector3D locSeedPos = invTrf * seedPos;
159  const Amg::Vector3D locSeedDir = invTrf.linear() * seedDir;
160  auto& seedPars = dec_seedPars(*reFitMe);
161  seedPars[Acts::toUnderlying(ParamDefs::x0)] = locSeedPos.x();
162  seedPars[Acts::toUnderlying(ParamDefs::y0)] = locSeedPos.y();
163  seedPars[Acts::toUnderlying(ParamDefs::theta)] = locSeedDir.theta();
164  seedPars[Acts::toUnderlying(ParamDefs::phi)] = locSeedDir.phi();
165  }
166 
167  const GeoTrf::CoordEulerAngles sectorAngles = GeoTrf::getCoordRotationAngles(sectorTrf);
169  std::vector<const xAOD::UncalibratedMeasurement*> startMeas = MuonR4::collectMeasurements(*reFitMe);
170 
171  const auto* refMeas = startMeas.front();
172 
173  const Amg::Vector3D firstSurfPos{surfAcc.get(refMeas)->transform(tgContext).translation()};
174 
175  if (reFitMe->nPhiLayers() < 1) {
176  ATH_MSG_VERBOSE("Skip phi layer free segment");
177  continue;
178  const Amg::Vector3D planeNormal = sectorTrf.linear().col(2);
179 
180  const Amg::Vector3D lastSurfPos = surfAcc.get(startMeas.back())->transform(tgContext).translation();
182 
183  const Amg::Transform3D trfBeneath = GeoTrf::GeoTransformRT{sectorAngles, firstSurfPos - pseudoSurfDist * planeNormal};
184  const Amg::Transform3D trfAbove = GeoTrf::GeoTransformRT{sectorAngles, lastSurfPos + pseudoSurfDist * planeNormal};
185 
186  auto surfBeneath = Acts::Surface::makeShared<Acts::PlaneSurface>(trfBeneath);
187  auto surfAbove = Acts::Surface::makeShared<Acts::PlaneSurface>(trfAbove);
188  const double covVal = std::pow(1.*Gaudi::Units::cm, 2);
189  startMeas.insert(startMeas.begin(), auxMeasHandle.newMeasurement<1>(surfBeneath, ProjectorType::e1DimNoTime, AmgSymMatrix(1){covVal}));
190  startMeas.insert(startMeas.end(), auxMeasHandle.newMeasurement<1>(surfAbove, ProjectorType::e1DimNoTime, AmgSymMatrix(1){covVal}));
191 
192  }
193  if (m_drawEvent) {
195  MuonValR4::drawSegmentLine(gctx, *reFitMe, visualHelper,
196  Acts::ViewConfig{.color = {220, 0, 0}});
197  MuonValR4::drawSegmentMeasurements(gctx, *reFitMe, visualHelper, Acts::s_viewSurface);
198  }
199  //else if (const auto& firstMeas = reFitMe->measurements().front(); firstMeas->type() == xAOD::UncalibMeasType::Other) {
200  // auto pseudoSurf = Acts::Surface::makeShared<Acts::PlaneSurface>(
201  // GeoTrf::GeoTransformRT{sectorAngles, Amg::Vector3D::Zero()});
202  // startMeas.insert(startMeas.begin(), auxMeasHandle.newMeasurement<2>(pseudoSurf, ProjectorType::e2DimNoTime, AmgSymMatrix(2)::Identity()));
203  //}
204 
206  const Amg::Vector3D trfZ = sectorTrf.linear().col(2);
207  const double extDist = Amg::intersect<3>(seedPos, seedDir, trfZ,
208  firstSurfPos.dot(trfZ) - 10.*Gaudi::Units::cm).value_or(0.);
209  // const double extDist = dir.dot(firstSurfPos - pos) - 5.*Gaudi::Units::cm;
211  const Amg::Vector3D refPos = seedPos + extDist * seedDir;
212  const Amg::Transform3D trf{GeoTrf::GeoTransformRT{sectorAngles, refPos}};
213  if (msgLvl(MSG::VERBOSE)) {
214  const auto [locPos, locDir] = makeLine(localSegmentPars(*reFitMe));
215 
216  std::stringstream sstr{};
217  sstr<<"pos: "<<Amg::toString(seedPos)<<", dir: "<<Amg::toString(seedDir)<<", chi2/nDoF: "
218  <<reFitMe->chiSquared() / reFitMe->numberDoF()<<", nDoF: "<<reFitMe->numberDoF()<<", "
219  <<reFitMe->nPrecisionHits()<<", "<<reFitMe->nPhiLayers()<<std::endl;
220  for (const auto& meas : MuonR4::detailedSegment(*reFitMe)->measurements()) {
221  sstr<<" **** "<<(*meas)<<", chi2: "<<SeedingAux::chi2Term(locPos, locDir, *meas)
222  <<", sign: "<<(meas->isStraw() ?
223  (SeedingAux::strawSign(locPos,locDir, *meas) == 1 ? "R" : "L") : "-")
224  <<", geoId: "<<(meas->spacePoint() ? surfAcc.get(meas->spacePoint()->primaryMeasurement())->geometryId()
225  : Acts::GeometryIdentifier{})<<std::endl;
226  }
227 
228  sstr<<" Target surf: "<<Amg::toString(trf)<<", firstSurf: "<< Amg::toString(trf.inverse()*firstSurfPos)
229  <<", refPoint: "<<Amg::toString(trf.inverse()*refPos)<<std::endl;
230  ATH_MSG_VERBOSE("Run G2F fit on "<<msSector->identString()<<std::endl<<sstr.str());
231  }
233  auto target = Acts::Surface::makeShared<Acts::PlaneSurface>(trf);
234 
235  auto fourPos{ActsTrk::convertPosToActs(refPos, refPos.mag() / Gaudi::Units::c_light)};
236  Acts::BoundMatrix initialCov{Acts::BoundMatrix::Identity()};
237 
238  auto initialPars = Acts::BoundTrackParameters::create(tgContext, target, fourPos, seedDir, straightQoverP,
239  initialCov, Acts::ParticleHypothesis::muon());
240  if (!initialPars.ok()) {
241  ATH_MSG_WARNING("Initial estimate of the parameters failed");
242  continue;
243  }
244  if (m_drawEvent) {
245  MuonValR4::drawBoundParameters(gctx, *initialPars, visualHelper,
246  Acts::ViewConfig{.color={0,220,0}});
247  }
248  ATH_MSG_ALWAYS("Initial parameters "<<Amg::toString((*initialPars).parameters()));
249  auto fitTraject = m_trackFitTool->fit(startMeas, *initialPars,
250  tgContext, mfContext, calContext, target.get());
251  if (!fitTraject) {
252  ATH_MSG_WARNING("Track fit failed.");
253  if (m_drawEvent) {
254  visualHelper.write(std::format("SegmentReFitTest_failed_{:}_{:}_{:}.obj",
255  ctx.eventID().event_number(), reFitMe->index(),
256  MuonR4::printID(*reFitMe)));
257  }
258  continue;
259  }
260 
261  auto track = fitTraject->getTrack(0);
262  ATH_MSG_DEBUG("Track fit succeeded. ");
263 
264  MuonR4::Segment::HitSummary summary{};
266  std::vector<const xAOD::UncalibratedMeasurement*> goodMeas{};
267  unsigned int itr{0};
268  fitTraject->trackStateContainer().visitBackwards(track.tipIndex(),[&](const auto& state){
269  if (!state.hasUncalibratedSourceLink()){
270  return;
271  }
272  goodMeas.insert(goodMeas.begin(),
273  ActsTrk::detail::xAODUncalibMeasCalibrator::unpack(state.getUncalibratedSourceLink()));
274  ATH_MSG_VERBOSE("Loop over track state: "<<(itr++)<<", "<<m_idHelperSvc->toString(xAOD::identify(goodMeas.front()))
275  <<", id: "<<surfAcc.get(goodMeas.front())->geometryId());
276 
277  const xAOD::UncalibratedMeasurement* m = goodMeas.front();
278  summary.nPrecHits += (m->type() == xAOD::UncalibMeasType::MdtDriftCircleType);
279  if (m->type() == xAOD::UncalibMeasType::Other) {
280  }
281  else if (m_idHelperSvc->measuresPhi(xAOD::identify(m))){
282  ++summary.nPhiHits;
283  } else {
284  summary.nEtaTrigHits += (m->type() != xAOD::UncalibMeasType::MdtDriftCircleType);
285  }
286  });
287 
288  Acts::BoundTrackParameters parameters = track.createParametersAtReference();
289  if (m_drawEvent) {
290  MuonValR4::drawBoundParameters(gctx, parameters, visualHelper,
291  Acts::ViewConfig{.color={0, 0, 220}});
292 
293  visualHelper.write(std::format("SegmentReFitTest_goodone_{:}_{:}_{:}.obj",
294  ctx.eventID().event_number(), reFitMe->index(),
295  MuonR4::printID(*reFitMe)));
296  }
298  const Amg::Vector3D globDir = parameters.direction();
300  const Amg::Transform3D globToLoc{sectorTrf.inverse()};
301  const Amg::Vector3D refitPos = globToLoc * parameters.position(tgContext);
302  const Amg::Vector3D refitDir = globToLoc.linear() * globDir;
304  const Amg::Vector3D refitSeg = refitPos + Amg::intersect<3>(refitPos, refitDir, Amg::Vector3D::UnitZ(), 0).value_or(0.) * refitDir;
305  const Amg::Vector3D globPos{msSector->localToGlobalTrans(gctx) * refitSeg};
306 
307  auto newSegment = outHandle->push_back(std::make_unique<xAOD::MuonSegment>());
308  dec_segLink(*newSegment) = Link_t{*segments, reFitMe->index(), ctx};
309 
310  newSegment->setDirection(globDir.x(), globDir.y(), globDir.z());
311  newSegment->setPosition(globPos.x(), globPos.y(), globPos.z());
312 
313  newSegment->setFitQuality(track.chi2(), track.nDoF());
314  newSegment->setNHits(summary.nPrecHits, summary.nPhiHits, summary.nEtaTrigHits);
315  auto& locFitPars = dec_locPars(*newSegment);
316  locFitPars[Acts::toUnderlying(ParamDefs::x0)] = refitSeg.x();
317  locFitPars[Acts::toUnderlying(ParamDefs::y0)] = refitSeg.y();
318  locFitPars[Acts::toUnderlying(ParamDefs::theta)] = refitDir.theta();
319  locFitPars[Acts::toUnderlying(ParamDefs::phi)] = refitDir.phi();
320  }
321  return StatusCode::SUCCESS;
322  }
323 }
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Print the chamber ID of a segment, e.g.
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Returns the hit summary.
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Enum encoding the possible projectors used in ATLAS.
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Draw all uncalibrated measurements associated to the segment.
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Definition: PhysicalConstants.py:73
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Eigen::Matrix< double, 3, 1 > Vector3D
Definition: GeoPrimitives.h:47
python.copyTCTOutput.locDir
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Definition: copyTCTOutput.py:110
ATHRNG::RNGWrapper::getEngine
CLHEP::HepRandomEngine * getEngine(const EventContext &ctx) const
Retrieve the random engine corresponding to the provided EventContext.
Definition: RNGWrapper.h:134
RNGWrapper.h
xAODUncalibMeasSurfAcc.h
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This header ties the generic definitions in this package.
Definition: HoughEventData.h:16
SG::WriteHandle
Definition: StoreGate/StoreGate/WriteHandle.h:73
MuonValR4::drawBoundParameters
void drawBoundParameters(const ActsTrk::GeometryContext &gctx, const Acts::BoundTrackParameters &pars, Acts::ObjVisualization3D &visualHelper, const Acts::ViewConfig &viewConfig=Acts::s_viewLine, const double standardLength=3.*Gaudi::Units::cm)
Draw a line representing the bound track parameters.
Definition: ObjVisualizationHelpers.cxx:175
MuonR4::Segment::HitSummary
Helper struct to summarize the hit count
Definition: MuonSpectrometer/MuonPhaseII/Event/MuonPatternEvent/MuonPatternEvent/Segment.h:61
SegmentFitterEventData.h
ATH_MSG_WARNING
#define ATH_MSG_WARNING(x)
Definition: AthMsgStreamMacros.h:32
copySelective.target
string target
Definition: copySelective.py:36
if
if(febId1==febId2)
Definition: LArRodBlockPhysicsV0.cxx:567
GeoPrimitivesToStringConverter.h
LArNewCalib_DelayDump_OFC_Cali.idx
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Definition: LArNewCalib_DelayDump_OFC_Cali.py:69
MuonR4::SegmentFit::localSegmentPars
Parameters localSegmentPars(const xAOD::MuonSegment &seg)
Returns the localSegPars decoration from a xAODMuon::Segment.
Definition: SegmentFitterEventData.cxx:42
physics_parameters.parameters
parameters
Definition: physics_parameters.py:144
MuonR4::Segment::HitSummary::nPhiHits
unsigned nPhiHits
Number of good Rpc / Tgc / sTgc phi hits.
Definition: MuonSpectrometer/MuonPhaseII/Event/MuonPatternEvent/MuonPatternEvent/Segment.h:67
ActsTrk::detail::xAODUncalibMeasSurfAcc
Helper class to access the Acts::surface associated with an Uncalibrated xAOD measurement.
Definition: xAODUncalibMeasSurfAcc.h:22
xAOD::track
@ track
Definition: TrackingPrimitives.h:513
python.Constants.VERBOSE
int VERBOSE
Definition: Control/AthenaCommon/python/Constants.py:13
CaloLCW_tf.trf
trf
Definition: CaloLCW_tf.py:20
pow
constexpr int pow(int base, int exp) noexcept
Definition: ap_fixedTest.cxx:15
xAOD::UncalibMeasType::MdtDriftCircleType
@ MdtDriftCircleType
python.SystemOfUnits.m
float m
Definition: SystemOfUnits.py:106
MuonR4::Segment::covariance
const SegmentFit::Covariance & covariance() const
Returns the uncertainties of the defining parameters.
Definition: MuonSpectrometer/MuonPhaseII/Event/MuonPatternEvent/MuonPatternEvent/Segment.h:53
ActsTrk::GeometryContext::context
Acts::GeometryContext context() const
Definition: GeometryContext.h:46
SCT_Monitoring::summary
@ summary
Definition: SCT_MonitoringNumbers.h:65
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