MultiComponentStateModeCalculator.cxx

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/*
  Copyright (C) 2002-2023 CERN for the benefit of the ATLAS collaboration
*/
 
#include "TrkGaussianSumFilterUtils/MultiComponentStateModeCalculator.h"
#include "TrkGaussianSumFilterUtils/GsfConstants.h"
//
#include "CxxUtils/phihelper.h"
#include <cmath>
 
#include<boost/container/static_vector.hpp>
 
 
namespace {
constexpr double invsqrt2PI =
  M_2_SQRTPI / (2. * M_SQRT2); // 1. / sqrt(2. * M_PI);
 
// Simple representation of 1D component
struct Component
{
  Component() = default;
  ~Component() = default;
  Component(const Component&) = default;
  Component& operator=(const Component&) = default;
  Component(Component&&) = default;
  Component& operator=(Component&&) = default;
  // Constructor with arguments
  Component(double aWeight, double aMean, double aSigma)
    : weight(aWeight)
    , mean(aMean)
    , sigma(aSigma)
  {}
  double weight = 0;
  double mean = 0;
  double sigma = 0;
};
 
using VecOfComponents =
    boost::container::static_vector<Component,
                                    GSFConstants::maxNumberofStateComponents>;
struct pdfAndDeriv
{
  double value = 0.;
  double deriv1 = 0.;
  double deriv2 = .0;
};
 
double
gaus(double x, double mean, double sigma)
{
  const double invertsigma = 1. / sigma;
  const double z = (x - mean) * invertsigma;
  return (invsqrt2PI * invertsigma) * exp(-0.5 * z * z);
}
 
double
pdf(double x, int i, const std::array<VecOfComponents, 5>& mixture)
{
  double pdf(0.);
  auto component = mixture[i].begin();
  for (; component != mixture[i].end(); ++component) {
    pdf += component->weight * gaus(x, component->mean, component->sigma);
  }
  return pdf;
}
 
pdfAndDeriv
fullPdf(double x, int i, const std::array<VecOfComponents, 5>& mixture)
{
  pdfAndDeriv pdf{};
  auto component = mixture[i].begin();
  for (; component != mixture[i].end(); ++component) {
    double componentgaus = gaus(x, component->mean, component->sigma);
    pdf.value += component->weight * componentgaus;
    const double invertSigma = 1. / component->sigma;
    const double z = (x - component->mean) * invertSigma;
    pdf.deriv1 += -1. * component->weight * z * componentgaus * invertSigma;
    pdf.deriv2 += component->weight * invertSigma * invertSigma * (z * z - 1.) *
                  componentgaus;
  }
  return pdf;
}
 
double
width(int i, const std::array<VecOfComponents, 5>& mixture)
{
  double pdf(0.);
  auto component = mixture[i].begin();
  for (; component != mixture[i].end(); ++component) {
    pdf += component->weight * component->sigma;
  }
  return pdf;
}
 
void
fillMixture(const Trk::MultiComponentState& multiComponentState,
            std::array<VecOfComponents, 5>& mixture)
{
  constexpr Trk::ParamDefs parameter[5] = {
    Trk::d0, Trk::z0, Trk::phi, Trk::theta, Trk::qOverP
  };
 
  // Loop over all the components in the multi-component state
  for (const Trk::ComponentParameters& component : multiComponentState) {
 
    // And then for each component over each 5 parameters
    for (size_t i = 0; i < 5; ++i) {
      const Trk::TrackParameters* componentParameters = component.params.get();
      const AmgSymMatrix(5)* measuredCov = componentParameters->covariance();
      if (!measuredCov) {
        return;
      }
      // Enums for Perigee
      // d0=0, z0=1, phi0=2, theta=3, qOverP=4,
      double weight = component.weight;
      double mean = componentParameters->parameters()[parameter[i]];
      // FIXME ATLASRECTS-598 this std::abs() should not be necessary... for
      // some reason cov(qOverP,qOverP) can be negative
      double sigma = sqrt(std::abs((*measuredCov)(parameter[i], parameter[i])));
      // Ensure that we don't have any problems with the cyclical nature of
      // phi Use first state as reference point
      if (i == 2) { // phi
        double deltaPhi =
          multiComponentState.begin()->params->parameters()[2] - mean;
        if (deltaPhi > M_PI) {
          mean += 2 * M_PI;
        } else if (deltaPhi < -M_PI) {
          mean -= 2 * M_PI;
        }
      }
      mixture[i].emplace_back(weight, mean, sigma);
    }
  }
}
 
double
findMode(double xStart,
         int i,
         const std::array<VecOfComponents, 5>& mixture)
{
 
  bool converged = false;
  double tolerance(1.);
  // start position for mode
  double currentMode(xStart);
  double nextMode(currentMode);
  // pdf at current mode and next mode
  pdfAndDeriv currentPdf = fullPdf(currentMode, i, mixture);
 
  // Allow up to 20 iterations for convergence
  for (int iteration = 0; iteration < 20; ++iteration) {
    // calculate next mode point
    if (currentPdf.deriv2 != 0.0) {
      nextMode = currentMode - currentPdf.deriv1 / currentPdf.deriv2;
    } else {
      return xStart;
    }
 
    // Calculate the mixture pdf at next mode point
    pdfAndDeriv nextPdf = fullPdf(nextMode, i, mixture);
    // check if we have converged
    if ((nextPdf.value + currentPdf.value) != 0.0) {
      tolerance = std::abs(nextPdf.value - currentPdf.value) /
                  (nextPdf.value + currentPdf.value);
    } else {
      return xStart;
    }
    if (tolerance < 1.e-8) {
      converged = true;
      break;
    }
    // if we have not yet converged
    // next becomes current and we retry
    currentPdf = nextPdf;
    currentMode = nextMode;
  }
 
  if (!converged) {
    return xStart;
  }
 
  return currentMode;
}
 
double
findRoot(double& result,
         double xlo,
         double xhi,
         double value,
         double i,
         const std::array<VecOfComponents, 5>& mixture)
{
  // Do the root finding using the Brent-Decker method. Returns a boolean
  // status and loads 'result' with our best guess at the root if true.
  double a(xlo);
  double b(xhi);
  double fa = pdf(a, i, mixture) - value;
  double fb = pdf(b, i, mixture) - value;
 
  if (fb * fa > 0) {
    return false;
  }
  bool ac_equal(false);
  double fc = fb;
  double c(0);
  double d(0);
  double e(0);
  int MaxIterations = 20;
  double tolerance = 1.e-6;
 
  for (int iter = 0; iter <= MaxIterations; iter++) {
 
    if ((fb < 0 && fc < 0) || (fb > 0 && fc > 0)) {
      // Rename a,b,c and adjust bounding interval d
      ac_equal = true;
      c = a;
      fc = fa;
      d = b - a;
      e = b - a;
    }
 
    if (std::abs(fc) < std::abs(fb)) {
      ac_equal = true;
      a = b;
      b = c;
      c = a;
      fa = fb;
      fb = fc;
      fc = fa;
    }
 
    double tol = 0.5 * tolerance * std::abs(b);
    double m = 0.5 * (c - b);
 
    if (fb == 0 || std::abs(m) <= tol) {
      result = b;
      return true;
    }
 
    if (std::abs(e) < tol || std::abs(fa) <= std::abs(fb)) {
      // Bounds decreasing too slowly: use bisection
      d = m;
      e = m;
    } else {
      // Attempt inverse cubic interpolation
      double p = 0;
      double q = 0;
      double r = 0;
      double s = fb / fa;
 
      if (ac_equal) {
        p = 2 * m * s;
        q = 1 - s;
      } else {
        q = fa / fc;
        r = fb / fc;
        p = s * (2 * m * q * (q - r) - (b - a) * (r - 1));
        q = (q - 1) * (r - 1) * (s - 1);
      }
      // Check whether we are in bounds
      if (p > 0) {
        q = -q;
      } else {
        p = -p;
      }
 
      double min1 = 3 * m * q - std::abs(tol * q);
      double min2 = std::abs(e * q);
      if (2 * p < (min1 < min2 ? min1 : min2)) {
        // Accept the interpolation
        e = d;
        d = p / q;
      } else {
        // Interpolation failed: use bisection.
        d = m;
        e = m;
      }
    }
    // Move last best guess to a
    a = b;
    fa = fb;
    // Evaluate new trial root
    if (std::abs(d) > tol) {
      b += d;
    } else {
      b += (m > 0 ? +tol : -tol);
    }
    fb = pdf(b, i, mixture) - value;
  }
  // Return our best guess if we run out of iterations
  result = b;
 
  return false;
}
 
std::array<double, 10>
evaluateMode(const std::array<VecOfComponents, 5>& mixture)
{
  std::array<double, 10> modes{};
  /* loop over the 5 direction , d0,z0,phi,theta,qOverP*/
 
  for (int i = 0; i < 5; i++) {
 
    double largerPdfComponent = 0.0;
    double largerMeanComponent = 0.0;
    /*
     * Loop over the mixture in the ith direction and find the  component
     * whose mean give the larger value for the Gaussian Mixture pdf.
     * This should be a good enough starting point for the mode
     * finding in this direction
     */
    for (const Component& component : mixture[i]) {
      double pdfValue = pdf(component.mean, i, mixture);
      if (pdfValue > largerPdfComponent) {
        largerPdfComponent = pdfValue;
        largerMeanComponent = component.mean;
      }
    }
    modes[i] = findMode(largerMeanComponent, i, mixture);
    // Calculate the FWHM and return this back so that it can be used to correct
    // the covariance matrix
    if (largerMeanComponent != modes[i]) {
      // mode calculation was successful now calulate FWHM
      double currentWidth = width(i, mixture);
      modes[i + 5] = -1; // Failure is flagged with a value less than 0;
 
      double pdfVal = pdf(modes[i], i, mixture);
      double highX(0);
      double lowX(0);
 
      double upperbound = modes[i] + 1.5 * currentWidth;
      while (true) {
        if (pdf(upperbound, i, mixture) > pdfVal * 0.5) {
          upperbound += currentWidth;
        } else {
          break;
        }
      }
 
      bool highXFound =
        findRoot(highX, modes[i], upperbound, pdfVal * 0.5, i, mixture);
 
      double lowerbound = modes[i] - 1.5 * currentWidth;
      while (true) {
        if (pdf(lowerbound, i, mixture) > pdfVal * 0.5) {
          lowerbound -= currentWidth;
        } else {
          break;
        }
      }
      bool lowXFound =
        findRoot(lowX, lowerbound, modes[i], pdfVal * 0.5, i, mixture);
      if (highXFound && lowXFound) {
        double FWHM = highX - lowX;
        modes[i + 5] = FWHM / 2.35482; // 2 * sqrt( 2* log(2))
      }
      // Ensure that phi is between -pi and pi
      if (i == 2) {
        modes[i] = CxxUtils::wrapToPi(modes[i]);
      }
    }
  }
  return modes;
}
} // end of anonymous namespace
 
std::array<double, 10>
Trk::MultiComponentStateModeCalculator::calculateMode(
  const Trk::MultiComponentState& multiComponentState)
{
  // Check to see if all components have covariance
  if (!MultiComponentStateHelpers::allHaveCovariance(multiComponentState)) {
    return {};
  }
  std::array<VecOfComponents, 5> mixture;
 
  fillMixture(multiComponentState, mixture);
  return evaluateMode(mixture);
}