#include <TVector3.h>
#include <TDecompLU.h>
#include <TArrayI.h>
+#include <TObjArray.h>
#include <TH1D.h>
#include <TF1.h>
#include "AliESDtrack.h"
-#include "AliTrackPointArray.h"
-#include "AliGeomManager.h"
-#include "AliTrackFitterKalman.h"
-#include "AliTrackFitterRieman.h"
-#include "AliESDfriendTrack.h"
#include "AliESDEvent.h"
-#include "AliESDVertex.h"
#include "AliExternalTrackParam.h"
#include "AliRelAlignerKalman.h"
//______________________________________________________________________________
AliRelAlignerKalman::AliRelAlignerKalman():
TObject(),
- fAlpha(0.),
- fLocalX(80.),
fPTrackParamArr1(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
fPTrackParamArr2(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
fMagField(0.),
+ fNMeasurementParams(4),
fPX(new TVectorD( fgkNSystemParams )),
fPXcov(new TMatrixDSym( fgkNSystemParams )),
- fPH(new TMatrixD( fgkNMeasurementParams, fgkNSystemParams )),
+ fPH(new TMatrixD( fNMeasurementParams, fgkNSystemParams )),
fQ(1.e-15),
- fPMeasurement(new TVectorD( fgkNMeasurementParams )),
- fPMeasurementCov(new TMatrixDSym( fgkNMeasurementParams )),
+ fPMeasurement(new TVectorD( fNMeasurementParams )),
+ fPMeasurementCov(new TMatrixDSym( fNMeasurementParams )),
+ fPMeasurementPrediction(new TVectorD( fNMeasurementParams )),
fOutRejSigmas(1.),
- fDelta(new Double_t[fgkNSystemParams]),
+ fOutRejSigma2Median(5.),
+ fYZOnly(kFALSE),
fNumericalParanoia(kTRUE),
fRejectOutliers(kTRUE),
+ fRejectOutliersSigma2Median(kFALSE),
fRequireMatchInTPC(kFALSE),
fCuts(kFALSE),
fMinPointsVol1(3),
fMinPointsVol2(50),
- fMinMom(0.),
- fMaxMom(1.e100),
+ fMinPt(0.),
+ fMaxPt(1.e100),
fMaxMatchingAngle(0.1),
fMaxMatchingDistance(10.), //in cm
fCorrectionMode(kFALSE),
fNTracks(0),
fNUpdates(0),
fNOutliers(0),
+ fNOutliersSigma2Median(0),
fNMatchedCosmics(0),
fNMatchedTPCtracklets(0),
fNProcessedEvents(0),
fTrackInBuffer(0),
+ fTimeStamp(0),
+ fRunNumber(0),
+ fNMerges(0),
+ fNMergesFailed(0),
fTPCvd(2.64),
fTPCZLengthA(2.4972500e02),
fTPCZLengthC(2.4969799e02)
{
//Default constructor
-
- //default seed: zero, reset errors to large default
+ for (Int_t i=0;i<fgkNSystemParams;i++) fDelta[i] = 1.e-6;
+ for (Int_t i=0; i<4;i++){fResArrSigma2Median[i]=NULL;}
Reset();
}
//______________________________________________________________________________
AliRelAlignerKalman::AliRelAlignerKalman(const AliRelAlignerKalman& a):
TObject(static_cast<TObject>(a)),
- fAlpha(a.fAlpha),
- fLocalX(a.fLocalX),
fPTrackParamArr1(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
fPTrackParamArr2(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
fMagField(a.fMagField),
+ fNMeasurementParams(a.fNMeasurementParams),
fPX(new TVectorD( *a.fPX )),
fPXcov(new TMatrixDSym( *a.fPXcov )),
- fPH(new TMatrixD( *a.fPH )),
+ fPH(new TMatrixD( fNMeasurementParams, fgkNSystemParams )),
fQ(a.fQ),
- fPMeasurement(new TVectorD( *a.fPMeasurement )),
- fPMeasurementCov(new TMatrixDSym( *a.fPMeasurementCov )),
+ fPMeasurement(new TVectorD( fNMeasurementParams )),
+ fPMeasurementCov(new TMatrixDSym( fNMeasurementParams )),
+ fPMeasurementPrediction(new TVectorD( fNMeasurementParams )),
fOutRejSigmas(a.fOutRejSigmas),
- fDelta(new Double_t[fgkNSystemParams]),
+ fOutRejSigma2Median(a.fOutRejSigma2Median),
+ fYZOnly(a.fYZOnly),
fNumericalParanoia(a.fNumericalParanoia),
fRejectOutliers(a.fRejectOutliers),
+ fRejectOutliersSigma2Median(a.fRejectOutliersSigma2Median),
fRequireMatchInTPC(a.fRequireMatchInTPC),
fCuts(a.fCuts),
fMinPointsVol1(a.fMinPointsVol1),
fMinPointsVol2(a.fMinPointsVol2),
- fMinMom(a.fMinMom),
- fMaxMom(a.fMaxMom),
+ fMinPt(a.fMinPt),
+ fMaxPt(a.fMaxPt),
fMaxMatchingAngle(a.fMaxMatchingAngle),
fMaxMatchingDistance(a.fMaxMatchingDistance), //in cm
fCorrectionMode(a.fCorrectionMode),
fNTracks(a.fNTracks),
fNUpdates(a.fNUpdates),
fNOutliers(a.fNOutliers),
+ fNOutliersSigma2Median(a.fNOutliersSigma2Median),
fNMatchedCosmics(a.fNMatchedCosmics),
fNMatchedTPCtracklets(a.fNMatchedTPCtracklets),
fNProcessedEvents(a.fNProcessedEvents),
- fTrackInBuffer(a.fTrackInBuffer),
+ fTrackInBuffer(0),
+ fTimeStamp(a.fTimeStamp),
+ fRunNumber(a.fRunNumber),
+ fNMerges(a.fNMerges),
+ fNMergesFailed(a.fNMergesFailed),
fTPCvd(a.fTPCvd),
fTPCZLengthA(a.fTPCZLengthA),
fTPCZLengthC(a.fTPCZLengthC)
- //fApplyCovarianceCorrection(a.fApplyCovarianceCorrection),
- //fCalibrationMode(a.fCalibrationMode),
- //fFillHistograms(a.fFillHistograms),
- //fNHistogramBins(a.fNHistogramBins),
- //fPMes0Hist(new TH1D(*a.fPMes0Hist)),
- //fPMes1Hist(new TH1D(*a.fPMes1Hist)),
- //fPMes2Hist(new TH1D(*a.fPMes2Hist)),
- //fPMes3Hist(new TH1D(*a.fPMes3Hist)),
- //fPMesErr0Hist(new TH1D(*a.fPMesErr0Hist)),
- //fPMesErr1Hist(new TH1D(*a.fPMesErr1Hist)),
- //fPMesErr2Hist(new TH1D(*a.fPMesErr2Hist)),
- //fPMesErr3Hist(new TH1D(*a.fPMesErr3Hist)),
- //fPMeasurementCovCorr(new TMatrixDSym(*a.fPMeasurementCovCorr)),
{
//copy constructor
memcpy(fDelta,a.fDelta,fgkNSystemParams*sizeof(Double_t));
+
+ //copy contents of the residuals array for sigma2median scheme
+ for (Int_t i=0;i<4;i++)
+ {
+ if ((a.fResArrSigma2Median)[i])
+ {
+ fResArrSigma2Median[i] = new Double_t[fgkNtracksSigma2Median];
+ memcpy(fResArrSigma2Median[i],(a.fResArrSigma2Median)[i],
+ fgkNtracksSigma2Median*sizeof(Double_t));
+ }
+ else
+ fResArrSigma2Median[i] = NULL;
+ }
}
//______________________________________________________________________________
AliRelAlignerKalman& AliRelAlignerKalman::operator=(const AliRelAlignerKalman& a)
{
//assignment operator
- //fAlpha=a.fAlpha;
- //fLocalX=a.fLocalX;
- //memcpy(fPTrackParamArr1,a.fPTrackParamArr1,fgkNTracksPerMeasurement*sizeof(AliExternalTrackParam));
- //memcpy(fPTrackParamArr2,a.fPTrackParamArr2,fgkNTracksPerMeasurement*sizeof(AliExternalTrackParam));
fMagField=a.fMagField,
+ fNMeasurementParams=a.fNMeasurementParams;
*fPX = *a.fPX;
*fPXcov = *a.fPXcov;
- //*fPH = *a.fPH;
fQ=a.fQ;
- //*fPMeasurement=*a.fPMeasurement;
- //*fPMeasurementCov=*a.fPMeasurementCov;
fOutRejSigmas=a.fOutRejSigmas;
+ fOutRejSigma2Median=a.fOutRejSigma2Median;
memcpy(fDelta,a.fDelta,fgkNSystemParams*sizeof(Double_t));
+ fYZOnly=a.fYZOnly;
fNumericalParanoia=a.fNumericalParanoia;
fRejectOutliers=a.fRejectOutliers;
+ fRejectOutliersSigma2Median=a.fRejectOutliersSigma2Median;
fRequireMatchInTPC=a.fRequireMatchInTPC;
fCuts=a.fCuts;
fMinPointsVol1=a.fMinPointsVol1;
fMinPointsVol2=a.fMinPointsVol2;
- fMinMom=a.fMinMom;
- fMaxMom=a.fMaxMom;
+ fMinPt=a.fMinPt;
+ fMaxPt=a.fMaxPt;
fMaxMatchingAngle=a.fMaxMatchingAngle;
fMaxMatchingDistance=a.fMaxMatchingDistance; //in c;
fCorrectionMode=a.fCorrectionMode;
fNTracks=a.fNTracks;
fNUpdates=a.fNUpdates;
fNOutliers=a.fNOutliers;
+ fNOutliersSigma2Median=a.fNOutliersSigma2Median;
fNMatchedCosmics=a.fNMatchedCosmics;
fNMatchedTPCtracklets=a.fNMatchedTPCtracklets;
fNProcessedEvents=a.fNProcessedEvents;
- fTrackInBuffer=a.fTrackInBuffer;
- //fApplyCovarianceCorrection=a.fApplyCovarianceCorrection;
- //fCalibrationMode=a.fCalibrationMode;
- //fFillHistograms=a.fFillHistograms;
- //fNHistogramBins=a.fNHistogramBins;
- //*fPMes0Hist=*(a.fPMes0Hist);
- //*fPMes1Hist=*(a.fPMes1Hist);
- //*fPMes2Hist=*(a.fPMes2Hist);
- //*fPMes3Hist=*(a.fPMes3Hist);
- //*fPMesErr0Hist=*(a.fPMesErr0Hist);
- //*fPMesErr1Hist=*(a.fPMesErr1Hist);
- //*fPMesErr2Hist=*(a.fPMesErr2Hist);
- //*fPMesErr3Hist=*(a.fPMesErr3Hist);
- //*fPMeasurementCovCorr=*(a.fPMeasurementCovCorr);
+ fTrackInBuffer=0; //because the array is reset, not copied
+ fTimeStamp=a.fTimeStamp;
+ fRunNumber=a.fRunNumber;
+ fNMerges=a.fNMerges;
fTPCvd=a.fTPCvd;
fTPCZLengthA=a.fTPCZLengthA;
fTPCZLengthC=a.fTPCZLengthC;
+
+ //copy contents of the residuals array for sigma2median scheme
+ for (Int_t i=0;i<4;i++)
+ {
+ if ((a.fResArrSigma2Median)[i])
+ {
+ if (!(fResArrSigma2Median[i])) fResArrSigma2Median[i] =
+ new Double_t[fgkNtracksSigma2Median];
+ memcpy(fResArrSigma2Median[i],(a.fResArrSigma2Median)[i],
+ fgkNtracksSigma2Median*sizeof(Double_t));
+ }
+ else
+ fResArrSigma2Median[i] = NULL;
+ }
return *this;
}
AliRelAlignerKalman::~AliRelAlignerKalman()
{
//destructor
- if (fPTrackParamArr1) delete [] fPTrackParamArr1;
- if (fPTrackParamArr2) delete [] fPTrackParamArr2;
- if (fPX) delete fPX;
- if (fPXcov) delete fPXcov;
- if (fPH) delete fPH;
- if (fPMeasurement) delete fPMeasurement;
- if (fPMeasurementCov) delete fPMeasurementCov;
- if (fDelta) delete [] fDelta;
- //if (fPMes0Hist) delete fPMes0Hist;
- //if (fPMes1Hist) delete fPMes1Hist;
- //if (fPMes2Hist) delete fPMes2Hist;
- //if (fPMes3Hist) delete fPMes3Hist;
- //if (fPMesErr0Hist) delete fPMesErr0Hist;
- //if (fPMesErr1Hist) delete fPMesErr1Hist;
- //if (fPMesErr2Hist) delete fPMesErr2Hist;
- //if (fPMesErr3Hist) delete fPMesErr3Hist;
- //if (fPMeasurementCovCorr) delete fPMeasurementCovCorr;
+ delete [] fPTrackParamArr1;
+ delete [] fPTrackParamArr2;
+ delete fPX;
+ delete fPXcov;
+ delete fPH;
+ delete fPMeasurement;
+ delete fPMeasurementCov;
+ for (Int_t i=0;i<4;i++)
+ {
+ delete [] (fResArrSigma2Median[i]);
+ }
}
//______________________________________________________________________________
Bool_t success=kFALSE;
SetMagField( pEvent->GetMagneticField() );
- AliESDtrack* track;
+ AliESDtrack* track=NULL;
for (Int_t i=0; i<pEvent->GetNumberOfTracks(); i++)
{
track = pEvent->GetTrack(i);
if (!track) continue;
if ( ((track->GetStatus()&AliESDtrack::kTPCin)>0)&&
- ((track->GetStatus()&AliESDtrack::kITSout)>0)&&
+ ((track->GetStatus()&AliESDtrack::kITSrefit)>0)&&
(track->GetNcls(0)>=fMinPointsVol1)&&
(track->GetNcls(1)>=fMinPointsVol2) )
{
success = ( AddESDtrack( track ) || success );
}
}
+ if (success)
+ {
+ fTimeStamp = pEvent->GetTimeStamp();
+ fRunNumber = pEvent->GetRunNumber();
+ }
return success;
}
//______________________________________________________________________________
Bool_t AliRelAlignerKalman::AddESDtrack( const AliESDtrack* pTrack )
{
- ////Adds a full track, returns true if results in a new estimate
-
- //const AliExternalTrackParam* pconstparamsITS = pTrack->GetOuterParam();
- //if (!pconstparamsITS) return kFALSE;
- //const AliExternalTrackParam* pconstparamsTPC = pTrack->GetInnerParam();
- //if (!pconstparamsTPC) return kFALSE;
- //
- ////TPC part
- //AliExternalTrackParam paramsTPC = (*pconstparamsTPC);
- //paramsTPC.Rotate(pconstparamsITS->GetAlpha());
- //paramsTPC.PropagateTo(pconstparamsITS->GetX(), pconstparamsITS->GetAlpha());
-
- //if (!SetTrackParams( pconstparamsITS, ¶msTPC )) return kFALSE;
- //
- ////do some accounting and update
- //return (Update());
-
- const AliESDtrack* p;
- p=pTrack; //shuts up the compiler
+ //Adds a full track, returns true if results in a new estimate
+ // gets the inner TPC parameters from AliESDTrack::GetInnerParam()
+ // gets the outer ITS parameters from AliESDfriendTrack::GetITSout()
+
+ const AliExternalTrackParam* pconstparamsITS = pTrack->GetOuterParam();
+ if (!pconstparamsITS) return kFALSE;
+ const AliExternalTrackParam* pconstparamsTPC = pTrack->GetInnerParam();
+ if (!pconstparamsTPC) return kFALSE;
- return kFALSE;
+ //TPC part
+ AliExternalTrackParam paramsTPC = (*pconstparamsTPC);
+ paramsTPC.Rotate(pconstparamsITS->GetAlpha());
+ paramsTPC.PropagateTo(pconstparamsITS->GetX(), fMagField);
+
+ return (AddTrackParams(pconstparamsITS, ¶msTPC));
+}
+
+//______________________________________________________________________________
+Bool_t AliRelAlignerKalman::AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 )
+{
+ //Update the estimate using new matching tracklets
+
+ if (!SetTrackParams(p1, p2)) return kFALSE;
+ return Update();
}
//______________________________________________________________________________
TArrayI trackTArrTPC(1);
if (!FindCosmicTrackletNumbersInEvent( trackTArrITS, trackTArrTPC, pEvent )) return kFALSE;
SetMagField( pEvent->GetMagneticField() );
- AliESDtrack* ptrack;
+ AliESDtrack* ptrack=NULL;
const AliExternalTrackParam* pconstparams1;
const AliExternalTrackParam* pconstparams2;
AliExternalTrackParam params1;
if (!pconstparams2) continue;
params2 = *pconstparams2; //make copy
params2.Rotate(params1.GetAlpha());
- params2.PropagateTo( params1.GetX(), params1.GetAlpha() );
+ params2.PropagateTo( params1.GetX(), fMagField );
if (!SetTrackParams( ¶ms1, ¶ms2 )) continue;
else
continue;
}
+ fTimeStamp=pEvent->GetTimeStamp(); //always update timestamp even when no update performed
+ fRunNumber=pEvent->GetRunNumber();
return success;
}
+//______________________________________________________________________________
+void AliRelAlignerKalman::SetPoint2Track( Bool_t set )
+{
+ fNMeasurementParams = (set)?2:4;
+ delete fPH;
+ fPH = new TMatrixD( fNMeasurementParams, fgkNSystemParams );
+ delete fPMeasurement;
+ fPMeasurement = new TVectorD( fNMeasurementParams );
+ delete fPMeasurementCov;
+ fPMeasurementCov = new TMatrixDSym( fNMeasurementParams );
+ delete fPMeasurementPrediction;
+ fPMeasurementPrediction = new TVectorD( fNMeasurementParams );
+ fYZOnly = set;
+}
+
//______________________________________________________________________________
void AliRelAlignerKalman::Print(Option_t*) const
{
Double_t rad2deg = 180./TMath::Pi();
printf("\nAliRelAlignerKalman\n");
if (fCorrectionMode) printf("(Correction mode)\n");
- printf(" %i pairs, %i updates, %i outliers,\n", fNTracks, fNUpdates, fNOutliers );
- printf(" %i TPC matches, %i ITS-TPC matches in %i events\n", fNMatchedTPCtracklets, fNMatchedCosmics, fNProcessedEvents );
+ printf(" run: %i, timestamp: %i, magfield: %.3f\n", fRunNumber, fTimeStamp, fMagField);
+ printf(" %i(-%i) inputs, %i(-%i) updates, %i(-%i) merges\n", fNTracks, fNOutliersSigma2Median, fNUpdates, fNOutliers, fNMerges, fNMergesFailed );
printf(" psi(x): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(0), 1e3*TMath::Sqrt((*fPXcov)(0,0)),(*fPX)(0)*rad2deg,TMath::Sqrt((*fPXcov)(0,0))*rad2deg);
printf(" theta(y): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(1), 1e3*TMath::Sqrt((*fPXcov)(1,1)),(*fPX)(1)*rad2deg,TMath::Sqrt((*fPXcov)(1,1))*rad2deg);
printf(" phi(z): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(2), 1e3*TMath::Sqrt((*fPXcov)(2,2)),(*fPX)(2)*rad2deg,TMath::Sqrt((*fPXcov)(2,2))*rad2deg);
{
//Print the system matrix for this measurement
printf("Kalman system matrix:\n");
- for ( Int_t i=0; i<fgkNMeasurementParams; i++ )
+ for ( Int_t i=0; i<fNMeasurementParams; i++ )
{
for ( Int_t j=0; j<fgkNSystemParams; j++ )
{
Bool_t AliRelAlignerKalman::SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 )
{
//Set the parameters, exparam1 will normally be ITS and exparam 2 tht TPC
-
+ fNTracks++; //count added input sets
+
+ //INPUT OUTLIER REJECTION
+ if (fRejectOutliersSigma2Median && IsOutlierSigma2Median(exparam1,exparam2) ) return kFALSE;
+
fPTrackParamArr1[fTrackInBuffer] = *exparam1;
fPTrackParamArr2[fTrackInBuffer] = *exparam2;
return kFALSE;
}
-//______________________________________________________________________________
-void AliRelAlignerKalman::SetRefSurface( const Double_t radius, const Double_t alpha )
-{
- //sets the reference surface by setting the radius (localx)
- //and rotation angle wrt the global frame of reference
- //locally the reference surface becomes a plane with x=r;
- fLocalX = radius;
- fAlpha = alpha;
-}
-
//______________________________________________________________________________
Bool_t AliRelAlignerKalman::Update()
{
//else return UpdateEstimateKalman();
if (!PrepareMeasurement()) return kFALSE;
if (!PrepareSystemMatrix()) return kFALSE;
+ if (!PreparePrediction()) return kFALSE;
return UpdateEstimateKalman();
}
Int_t x = i*4;
(*fPMeasurement)(x+0) = pararr2[0]-pararr1[0];
(*fPMeasurement)(x+1) = pararr2[1]-pararr1[1];
- (*fPMeasurement)(x+2) = pararr2[2]-pararr1[2];
- (*fPMeasurement)(x+3) = pararr2[3]-pararr1[3];
+ if (!fYZOnly)
+ {
+ (*fPMeasurement)(x+2) = pararr2[2]-pararr1[2];
+ (*fPMeasurement)(x+3) = pararr2[3]-pararr1[3];
+ }
//the covariance
const Double_t* parcovarr1 = fPTrackParamArr1[i].GetCovariance();
const Double_t* parcovarr2 = fPTrackParamArr2[i].GetCovariance();
(*fPMeasurementCov)(x+0,x+0)=parcovarr1[0];
(*fPMeasurementCov)(x+0,x+1)=parcovarr1[1];
- (*fPMeasurementCov)(x+0,x+2)=parcovarr1[3];
- (*fPMeasurementCov)(x+0,x+3)=parcovarr1[6];
(*fPMeasurementCov)(x+1,x+0)=parcovarr1[1];
(*fPMeasurementCov)(x+1,x+1)=parcovarr1[2];
- (*fPMeasurementCov)(x+1,x+2)=parcovarr1[4];
- (*fPMeasurementCov)(x+1,x+3)=parcovarr1[7];
- (*fPMeasurementCov)(x+2,x+0)=parcovarr1[3];
- (*fPMeasurementCov)(x+2,x+1)=parcovarr1[4];
- (*fPMeasurementCov)(x+2,x+2)=parcovarr1[5];
- (*fPMeasurementCov)(x+2,x+3)=parcovarr1[8];
- (*fPMeasurementCov)(x+3,x+0)=parcovarr1[6];
- (*fPMeasurementCov)(x+3,x+1)=parcovarr1[7];
- (*fPMeasurementCov)(x+3,x+2)=parcovarr1[8];
- (*fPMeasurementCov)(x+3,x+3)=parcovarr1[9];
(*fPMeasurementCov)(x+0,x+0)+=parcovarr2[0];
(*fPMeasurementCov)(x+0,x+1)+=parcovarr2[1];
- (*fPMeasurementCov)(x+0,x+2)+=parcovarr2[3];
- (*fPMeasurementCov)(x+0,x+3)+=parcovarr2[6];
(*fPMeasurementCov)(x+1,x+0)+=parcovarr2[1];
(*fPMeasurementCov)(x+1,x+1)+=parcovarr2[2];
- (*fPMeasurementCov)(x+1,x+2)+=parcovarr2[4];
- (*fPMeasurementCov)(x+1,x+3)+=parcovarr2[7];
- (*fPMeasurementCov)(x+2,x+0)+=parcovarr2[3];
- (*fPMeasurementCov)(x+2,x+1)+=parcovarr2[4];
- (*fPMeasurementCov)(x+2,x+2)+=parcovarr2[5];
- (*fPMeasurementCov)(x+2,x+3)+=parcovarr2[8];
- (*fPMeasurementCov)(x+3,x+0)+=parcovarr2[6];
- (*fPMeasurementCov)(x+3,x+1)+=parcovarr2[7];
- (*fPMeasurementCov)(x+3,x+2)+=parcovarr2[8];
- (*fPMeasurementCov)(x+3,x+3)+=parcovarr2[9];
+ if (!fYZOnly)
+ {
+ (*fPMeasurementCov)(x+0,x+2)=parcovarr1[3];
+ (*fPMeasurementCov)(x+0,x+3)=parcovarr1[6];
+ (*fPMeasurementCov)(x+1,x+2)=parcovarr1[4];
+ (*fPMeasurementCov)(x+1,x+3)=parcovarr1[7];
+ (*fPMeasurementCov)(x+2,x+0)=parcovarr1[3];
+ (*fPMeasurementCov)(x+2,x+1)=parcovarr1[4];
+ (*fPMeasurementCov)(x+2,x+2)=parcovarr1[5];
+ (*fPMeasurementCov)(x+2,x+3)=parcovarr1[8];
+ (*fPMeasurementCov)(x+3,x+0)=parcovarr1[6];
+ (*fPMeasurementCov)(x+3,x+1)=parcovarr1[7];
+ (*fPMeasurementCov)(x+3,x+2)=parcovarr1[8];
+ (*fPMeasurementCov)(x+3,x+3)=parcovarr1[9];
+ (*fPMeasurementCov)(x+0,x+2)+=parcovarr2[3];
+ (*fPMeasurementCov)(x+0,x+3)+=parcovarr2[6];
+ (*fPMeasurementCov)(x+1,x+2)+=parcovarr2[4];
+ (*fPMeasurementCov)(x+1,x+3)+=parcovarr2[7];
+ (*fPMeasurementCov)(x+2,x+0)+=parcovarr2[3];
+ (*fPMeasurementCov)(x+2,x+1)+=parcovarr2[4];
+ (*fPMeasurementCov)(x+2,x+2)+=parcovarr2[5];
+ (*fPMeasurementCov)(x+2,x+3)+=parcovarr2[8];
+ (*fPMeasurementCov)(x+3,x+0)+=parcovarr2[6];
+ (*fPMeasurementCov)(x+3,x+1)+=parcovarr2[7];
+ (*fPMeasurementCov)(x+3,x+2)+=parcovarr2[8];
+ (*fPMeasurementCov)(x+3,x+3)+=parcovarr2[9];
+ }
- fNTracks++; //count added track sets
}
//if (fApplyCovarianceCorrection)
// *fPMeasurementCov += *fPMeasurementCovCorr;
//Calculate the system matrix for the Kalman filter
//approximate the system using as reference the track in the first volume
- TVectorD z1( fgkNMeasurementParams );
- TVectorD z2( fgkNMeasurementParams );
+ TVectorD z1( fNMeasurementParams );
+ TVectorD z2( fNMeasurementParams );
TVectorD x1( fgkNSystemParams );
TVectorD x2( fgkNSystemParams );
//get the derivatives
x2(i) = x2(i) + fDelta[i]/(2.0);
if (!PredictMeasurement( z1, x1 )) return kFALSE;
if (!PredictMeasurement( z2, x2 )) return kFALSE;
- for (Int_t j=0; j<fgkNMeasurementParams; j++ )
+ for (Int_t j=0; j<fNMeasurementParams; j++ )
{
(*fPH)(j,i) = ( z2(j)-z1(j) ) / fDelta[i];
}
return kTRUE;
}
+//______________________________________________________________________________
+Bool_t AliRelAlignerKalman::PreparePrediction()
+{
+ //Prepare the prediction of the measurement using state vector
+ return PredictMeasurement( (*fPMeasurementPrediction), (*fPX) );
+}
+
//______________________________________________________________________________
Bool_t AliRelAlignerKalman::PredictMeasurement( TVectorD& pred, const TVectorD& state )
{
//calculate the predicted residual
pred(x+0) = oldparam[0] - newparam[0];
pred(x+1) = oldparam[1] - newparam[1];
- pred(x+2) = oldparam[2] - newparam[2];
- pred(x+3) = oldparam[3] - newparam[3];
+ if (!fYZOnly)
+ {
+ pred(x+2) = oldparam[2] - newparam[2];
+ pred(x+3) = oldparam[3] - newparam[3];
+ }
return kTRUE;
}
}
//calculate the predicted residual
pred(x+0) = newparam[0] - oldparam[0];
pred(x+1) = newparam[1] - oldparam[1];
- pred(x+2) = newparam[2] - oldparam[2];
- pred(x+3) = newparam[3] - oldparam[3];
+ if (!fYZOnly)
+ {
+ pred(x+2) = newparam[2] - oldparam[2];
+ pred(x+3) = newparam[3] - oldparam[3];
+ }
return kTRUE;
}
}
// }
// else
// {
- Double_t det;
- hpht.InvertFast(&det); //since the matrix is small...
- if (det < 2e-55) return kFALSE; //we need some sort of protection even in this case....
+ Double_t det=0.0;
+ hpht.Invert(&det); //since the matrix is small...
+ if (det < 2e-99) return kFALSE; //we need some sort of protection even in this case....
// }
//printf("KalmanUpdate: det(hpht): %.4g\n",det);
// update the state and its covariance matrix
TVectorD xupdate(fgkNSystemParams);
- TVectorD hx(fgkNMeasurementParams);
- PredictMeasurement( hx, (*fPX) );
- xupdate = k*((*fPMeasurement)-hx);
+ xupdate = k*((*fPMeasurement)-(*fPMeasurementPrediction));
//SIMPLE OUTLIER REJECTION
if ( IsOutlier( xupdate, (*fPXcov) ) && fRejectOutliers )
{
fNOutliers++;
+ //printf("AliRelAlignerKalman: outlier\n");
return kFALSE;
}
return is;
}
+//______________________________________________________________________________
+Bool_t AliRelAlignerKalman::IsOutlierSigma2Median( const AliExternalTrackParam* pITS,
+ const AliExternalTrackParam* pTPC )
+{
+ //check if the input residuals are not too far off their median
+ TVectorD vecDelta(4),vecMedian(4), vecRMS(4);
+ TVectorD vecDeltaN(5);
+ Double_t sign=(pITS->GetParameter()[1]>0)? 1.:-1.;
+ vecDeltaN[4]=0;
+ for (Int_t i=0;i<4;i++){
+ vecDelta[i]=(pITS->GetParameter()[i]-pTPC->GetParameter()[i])*sign;
+ (fResArrSigma2Median[i])[(fNTracks-1)%fgkNtracksSigma2Median]=vecDelta[i];
+ }
+ Int_t entries=(fNTracks<fgkNtracksSigma2Median)?fNTracks:fgkNtracksSigma2Median;
+ for (Int_t i=0;i<fNMeasurementParams;i++){ //in point2trackmode just take the first 2 params (zy)
+ vecMedian[i] = TMath::Median(entries,fResArrSigma2Median[i]);
+ vecRMS[i] = TMath::RMS(entries,fResArrSigma2Median[i]);
+ vecDeltaN[i] = 0;
+ if (vecRMS[i]>0.){
+ vecDeltaN[i] = (vecDelta[i]-vecMedian[i])/vecRMS[i];
+ vecDeltaN[4]+= TMath::Abs(vecDeltaN[i]); //sum of abs residuals
+ }
+ }
+ Bool_t outlier=kFALSE;
+ if (fNTracks<3) outlier=kTRUE; //median and RMS still to be defined
+ if ( vecDeltaN[4]/fNMeasurementParams>fOutRejSigma2Median) outlier=kTRUE;
+ if (outlier) fNOutliersSigma2Median++;
+ return outlier;
+}
+
//______________________________________________________________________________
Bool_t AliRelAlignerKalman::IsPositiveDefinite( const TMatrixD& mat ) const
{
+ //check for positive definiteness
+
for (Int_t i=0; i<mat.GetNcols(); i++)
{
if (mat(i,i)<=0.) return kFALSE;
}
if (fCuts)
{
- if (pTrack->GetP()<fMinMom || pTrack->GetP()>fMaxMom) continue;
+ if (pTrack->GetP()<fMinPt || pTrack->GetP()>fMaxPt) continue;
}
goodtracksArr[nGoodTracks]=itrack;
Float_t phi = pTrack->GetAlpha()+TMath::ASin(pTrack->GetSnp());
ResetCovariance();
//initialize the differentials per parameter
- for (Int_t i=0;i<fgkNSystemParams;i++) fDelta[i] = 1.e-6;
+ for (Int_t i=0;i<4;i++)
+ {
+ delete [] (fResArrSigma2Median[i]);
+ }
+ fRejectOutliersSigma2Median=kFALSE;
fNMatchedCosmics=0;
fNMatchedTPCtracklets=0;
fNOutliers=0;
fNTracks=0;
fNProcessedEvents=0;
+ fRunNumber=0;
+ fTimeStamp=0;
}
//______________________________________________________________________________
{
if (fgkNSystemParams>6) (*fPXcov)(6,6) = .1*.1;
if (fgkNSystemParams>7) (*fPXcov)(7,7) = 1.*1.;
- if (fgkNSystemParams>8) (*fPXcov)(8,8) = 1.*1.;
+ if (fgkNSystemParams>8) (*fPXcov)(8,8) = .1*.1;
}
else
{
}
//______________________________________________________________________________
-//void AliRelAlignerKalman::PrintCovarianceCorrection()
-//{
-// //Print the measurement covariance correction matrix
-// printf("Covariance correction matrix:\n");
-// for ( Int_t i=0; i<fgkNMeasurementParams; i++ )
-// {
-// for ( Int_t j=0; j<i+1; j++ )
-// {
-// printf("% -2.2f ", (*fPMeasurementCovCorr)(i,j) );
-// }//for i
-// printf("\n");
-// }//for j
-// printf("\n");
-// return;
-//}
-
-//_______________________________________________________________________________
-//Bool_t AliRelAlignerKalman::UpdateCalibration()
-//{
-// //Update the calibration with new data (in calibration mode)
-//
-// fPMes0Hist->Fill( (*fPMeasurement)(0) );
-// fPMes1Hist->Fill( (*fPMeasurement)(1) );
-// fPMes2Hist->Fill( (*fPMeasurement)(2) );
-// fPMes3Hist->Fill( (*fPMeasurement)(3) );
-// fPMesErr0Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(0,0)) );
-// fPMesErr1Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(1,1)) );
-// fPMesErr2Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(2,2)) );
-// fPMesErr3Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(3,3)) );
-// return kTRUE;
-//}
+Bool_t AliRelAlignerKalman::Merge( const AliRelAlignerKalman* al )
+{
+ //Merge two aligners
+
+ if (!al) return kFALSE;
+ if (al==this) return kTRUE;
+ if (al->fNUpdates == 0) return kTRUE; //no point in merging with an empty one
+
+ //store the pointers to current stuff
+ TVectorD* pmes = fPMeasurement;
+ TMatrixDSym* pmescov = fPMeasurementCov;
+ TVectorD* pmespred = fPMeasurementPrediction;
+ TMatrixD* ph = fPH;
+
+ //make a unity system matrix
+ TMatrixD tmp(fgkNSystemParams,fgkNSystemParams);
+ fPH = new TMatrixD(TMatrixD::kUnit, tmp);
+
+ //mesurement is the state of the new aligner
+ fPMeasurement = al->fPX;
+ fPMeasurementCov = al->fPXcov;
+
+ //the mesurement prediction is the state
+ fPMeasurementPrediction = fPX; //this is safe as fPX doesn't change until end
+
+ //do the merging
+ Bool_t success = UpdateEstimateKalman();
+
+ //restore pointers to old stuff
+ fPMeasurement = pmes;
+ fPMeasurementCov = pmescov;
+ fPMeasurementPrediction = pmespred;
+ delete fPH;
+ fPH = ph;
+
+ //merge stats
+ if (!success)
+ {
+ fNMergesFailed++;
+ //printf("AliRelAlignerKalman::Merge failed\n");
+ return kFALSE; //no point in merging stats if merge not succesful
+ }
+ fNProcessedEvents += al->fNProcessedEvents;
+ fNUpdates += al->fNUpdates;
+ fNOutliers += al->fNOutliers;
+ fNOutliersSigma2Median += al->fNOutliersSigma2Median;
+ fNTracks += al->fNTracks;
+ fNMatchedTPCtracklets += al->fNMatchedTPCtracklets;
+ fNMatchedCosmics += al->fNMatchedCosmics;
+ if (fNMerges==0 || al->fNMerges==0) fNMerges++;
+ else fNMerges += al->fNMerges;
+ if (fTimeStamp < al->fTimeStamp) fTimeStamp = al->fTimeStamp; //take the newer one
+
+ return success;
+}
//______________________________________________________________________________
-//Bool_t AliRelAlignerKalman::SetCalibrationMode( const Bool_t cp )
-//{
-// //sets the calibration mode
-// if (cp)
-// {
-// fCalibrationMode=kTRUE;
-// return kTRUE;
-// }//if (cp)
-// else
-// {
-// if (fCalibrationMode) // do it only after the calibration pass
-// {
-// CalculateCovarianceCorrection();
-// SetApplyCovarianceCorrection();
-// fCalibrationMode=kFALSE;
-// return kTRUE;
-// }//if (fCalibrationMode)
-// }//else (cp)
-// return kFALSE;
-//}
+Long64_t AliRelAlignerKalman::Merge( TCollection* list )
+{
+ //merge all aligners in the collection
+ Long64_t numberOfMerges=0;
+ AliRelAlignerKalman* alignerFromList;
+ if (!list) return 0;
+ TIter next(list);
+ while ( (alignerFromList = dynamic_cast<AliRelAlignerKalman*>(next())) )
+ {
+ if (alignerFromList == this) continue;
+ if (Merge(alignerFromList)) numberOfMerges++;
+ }
+ return numberOfMerges;
+}
//______________________________________________________________________________
-//Bool_t AliRelAlignerKalman::CalculateCovarianceCorrection()
-//{
-// //Calculates the correction to the measurement covariance
-// //using the calibration histograms
-//
-// fPMeasurementCovCorr->Zero(); //reset the correction
-//
-// Double_t s,m,c; //sigma,meansigma,correction
-//
-// //TF1* fitformula;
-// //fPMes0Hist->Fit("gaus");
-// //fitformula = fPMes0Hist->GetFunction("gaus");
-// //s = fitformula->GetParameter(2); //spread of the measurement
-// //fPMesErr0Hist->Fit("gaus");
-// //fitformula = fPMesErr0Hist->GetFunction("gaus"); //average error from cov matrices
-// //m = fitformula->GetParameter(1);
-// s = fPMes0Hist->GetRMS();
-// m = fPMesErr0Hist->GetMean();
-// c = s-m; //the difference between the average error and real spread of the data
-// if (c>0) //only correct is spread bigger than average error
-// (*fPMeasurementCovCorr)(0,0) = c*c;
-//
-// //fPMes1Hist->Fit("gaus");
-// //fitformula = fPMes1Hist->GetFunction("gaus");
-// //s = fitformula->GetParameter(2);
-// //fPMesErr1Hist->Fit("gaus");
-// //fitformula = fPMesErr1Hist->GetFunction("gaus");
-// //m = fitformula->GetParameter(1);
-// s = fPMes1Hist->GetRMS();
-// m = fPMesErr1Hist->GetMean();
-// c = s-m;
-// if (c>0) //only correct is spread bigger than average error
-// (*fPMeasurementCovCorr)(1,1) = c*c;
-//
-// //fPMes2Hist->Fit("gaus");
-// //fitformula = fPMes2Hist->GetFunction("gaus");
-// //s = fitformula->GetParameter(2);
-// //fPMesErr2Hist->Fit("gaus");
-// //fitformula = fPMesErr2Hist->GetFunction("gaus");
-// //m = fitformula->GetParameter(1);
-// s = fPMes2Hist->GetRMS();
-// m = fPMesErr2Hist->GetMean();
-// c = s-m;
-// if (c>0) //only correct is spread bigger than average error
-// (*fPMeasurementCovCorr)(2,2) = c*c;
-//
-// //fPMes3Hist->Fit("gaus");
-// //fitformula = fPMes3Hist->GetFunction("gaus");
-// //s = fitformula->GetParameter(2);
-// //fPMesErr3Hist->Fit("gaus");
-// //fitformula = fPMesErr3Hist->GetFunction("gaus");
-// //m = fitformula->GetParameter(1);
-// s = fPMes3Hist->GetRMS();
-// m = fPMesErr3Hist->GetMean();
-// c = s-m;
-// if (c>0) //only correct is spread bigger than average error
-// (*fPMeasurementCovCorr)(3,3) = c*c;
-//
-// return kTRUE;
-//}
+Int_t AliRelAlignerKalman::Compare(const TObject *obj) const
+{
+ if (this == obj) return 0;
+ const AliRelAlignerKalman* aobj = dynamic_cast<const AliRelAlignerKalman*>(obj);
+ if (!aobj) return 0;
+ if (fTimeStamp < aobj->fTimeStamp) return -1;
+ else if (fTimeStamp > aobj->fTimeStamp) return 1;
+ else return 0;
+}
+
+//________________________________________________________________________
+Int_t AliRelAlignerKalman::FindMatchingTracks(TObjArray& arrITS, TObjArray& arrTPC, AliESDEvent* pESD)
+{
+ //find matching tracks and return tobjarrays with the params
+
+ Int_t ntracks = pESD->GetNumberOfTracks();
+ Int_t* matchedArr = new Int_t[ntracks]; //storage for index of ITS track for which a match was found
+ for (Int_t i=0;i<ntracks;i++)
+ {
+ matchedArr[i]=0;
+ }
+
+ Int_t iMatched=-1;
+ for (Int_t i=0; i<ntracks; i++)
+ {
+ //get track1 and friend
+ AliESDtrack* track1 = pESD->GetTrack(i);
+ if (!track1) continue;
+
+ if (track1->GetNcls(0) < fMinPointsVol1) continue;
+
+ if (!( ( track1->IsOn(AliESDtrack::kITSrefit)) &&
+ (!track1->IsOn(AliESDtrack::kTPCin)) )) continue;
+
+ const AliESDfriendTrack* constfriendtrack1 = track1->GetFriendTrack();
+ if (!constfriendtrack1) continue;
+ AliESDfriendTrack friendtrack1(*constfriendtrack1);
+
+ if (!friendtrack1.GetITSOut()) continue;
+ AliExternalTrackParam params1(*(friendtrack1.GetITSOut()));
+
+ Double_t bestd = 1000.; //best distance
+ Bool_t newi = kTRUE; //whether we start with a new i
+ for (Int_t j=0; j<ntracks; j++)
+ {
+ if (matchedArr[j]>0 && matchedArr[j]!=i) continue; //already matched, everything tried
+ //get track2 and friend
+ AliESDtrack* track2 = pESD->GetTrack(j);
+ if (!track2) continue;
+ if (track1==track2) continue;
+ //if ( ( ( track2->IsOn(AliESDtrack::kITSout)) &&
+ // (!track2->IsOn(AliESDtrack::kTPCin)) )) continue; //all but ITS standalone
+
+ if (track2->GetNcls(0) != track1->GetNcls(0)) continue;
+ if (track2->GetITSClusterMap() != track1->GetITSClusterMap()) continue;
+ if (track2->GetNcls(1) < fMinPointsVol2) continue; //min 80 clusters in TPC
+ if (track2->GetTgl() > 1.) continue; //acceptance
+ //cut crossing tracks
+ if (track2->GetOuterParam()->GetZ()*track2->GetInnerParam()->GetZ()<0) continue;
+ if (track2->GetInnerParam()->GetX()>90) continue;
+ if (TMath::Abs(track2->GetInnerParam()->GetZ())<10.) continue; //too close to membrane?
+
+
+ if (!track2->GetInnerParam()) continue;
+ AliExternalTrackParam params2(*(track2->GetInnerParam()));
+
+ //bring to same reference plane
+ if (!params2.Rotate(params1.GetAlpha())) continue;
+ if (!params2.PropagateTo(params1.GetX(), pESD->GetMagneticField())) continue;
+
+ //pt cut
+ if (params2.Pt() < fMinPt) continue;
+
+ const Double32_t* p1 = params1.GetParameter();
+ const Double32_t* p2 = params2.GetParameter();
+
+ //hard cuts
+ Double_t dy = TMath::Abs(p2[0]-p1[0]);
+ Double_t dz = TMath::Abs(p2[1]-p1[1]);
+ Double_t dphi = TMath::Abs(p2[2]-p1[2]);
+ Double_t dlam = TMath::Abs(p2[3]-p1[3]);
+ if (dy > 2.0) continue;
+ if (dz > 10.0) continue;
+ if (dphi > 0.1 ) continue;
+ if (dlam > 0.1 ) continue;
+
+ //best match only
+ Double_t d = TMath::Sqrt(dy*dy+dz*dz+dphi*dphi+dlam*dlam);
+ if ( d >= bestd) continue;
+ bestd = d;
+ matchedArr[j]=i; //j-th track matches i-th (ITS) track
+ if (newi) iMatched++; newi=kFALSE; //increment at most once per i
+ if (arrITS[iMatched] && arrTPC[iMatched])
+ {
+ *(arrITS[iMatched]) = params1;
+ *(arrTPC[iMatched]) = params2;
+ }
+ else
+ {
+ arrITS[iMatched] = new AliExternalTrackParam(params1);
+ arrTPC[iMatched] = new AliExternalTrackParam(params2);
+ }//else
+ }//for j
+ }//for i
+ return iMatched;
+}
+//________________________________________________________________________
+void AliRelAlignerKalman::SetRejectOutliersSigma2Median(const Bool_t set )
+{
+ //Sets up or destroys the memory hungry array to hold the statistics
+ //for data rejection with median
+ if (set)
+ {
+ for (Int_t i=0;i<4;i++)
+ {
+ if (!fResArrSigma2Median[i]) fResArrSigma2Median[i] =
+ new Double_t[fgkNtracksSigma2Median];
+ }
+ fRejectOutliersSigma2Median = kTRUE;
+ }//else
+ else
+ {
+ // it probably doesn't make sense to delete the arrays, they are not streamed
+ //if (fRejectOutliersSigma2Median)
+ //for (Int_t i=0;i<4;i++)
+ //{
+ // delete [] (fResArrSigma2Median[i]);
+ //}
+ fRejectOutliersSigma2Median = kFALSE;
+ }//if
+}
git://git.uio.no / u / mrichter / AliRoot.git / blobdiff