[u/mrichter/AliRoot.git] / HMPID / SurveyToAlignHmpid.C

TVector3 fFM[28]; //array of global coordinates for 28 fiducial marks
Int_t sNch, oNch; // survey and offline chamber's number


TGeoHMatrix GetResSurvAlign(Int_t survNch, Int_t& offNch);

void SurveyToAlignHmpid(const char* filename="Survey_781282_HMPID.txt"){
	// Open file with AliSurveyPoints for the 7 HMPID chambers
	// Produce the corresponding alignment objects

	AliSurveyObj *so = new AliSurveyObj();

	Int_t size = so->GetEntries();
	printf("-> %d\n", size);

	so->FillFromLocalFile(filename);
	size = so->GetEntries();
	printf("--> %d\n", size);

	TObjArray *points = so->GetData();
	
	// We retrieve and open the ideal geometry
	AliCDBManager* cdbman = AliCDBManager::Instance();
	if(!cdbman->IsDefaultStorageSet()){
		cdbman->SetDefaultStorage("local://$ALICE_ROOT/OCDB");
	}else{
		cdbman->SetSpecificStorage("GRP/Geometry/*","local://$ALICE_ROOT/OCDB");
	}
	cdbman->SetRun(0);
	AliCDBEntry* cdbe = (AliCDBEntry*) cdbman->Get("GRP/Geometry/Data"); 


	for (Int_t i = 0; i < points->GetEntries(); ++i)
	{
		AliSurveyPoint *p=(AliSurveyPoint *) points->At(i);
		fFM[i].SetXYZ(p->GetX()*100.,p->GetY()*100.,p->GetZ()*100.);
	}

	TString chbasename("/HMPID/Chamber");
	for(Int_t sNch=0; sNch<7; sNch++){
		TGeoHMatrix mtx = GetResSurvAlign(sNch,oNch); //get global matrix from survey points
	
		TString chsymname = chbasename;
		chsymname += oNch;
		printf("getting global matrix for the alignable volume %s\n",chsymname.Data());
		TGeoHMatrix *gm = AliGeomManager::GetMatrix(chsymname.Data());

		if(!gm){
			printf("unable to get global matrix for the alignable volume %s\n",chsymname.Data());
			continue;
		}
		TGeoHMatrix gdelta = gm->Inverse();
		gdelta.MultiplyLeft(&mtx);

		//gdelta.Print();

		AliAlignObjMatrix* mobj = new
			AliAlignObjMatrix(AliGeomManager::SymName(AliGeomManager::LayerToVolUID(AliGeomManager::kHMPID,oNch)),
					AliGeomManager::LayerToVolUID(AliGeomManager::kHMPID,oNch),gdelta,kTRUE);
		/*
		   cout<<"\n************* obtained   AliAlignObjMatrix************\n";
		   mobj->Print();
		   cout<<""<<endl;

		   TGeoHMatrix pa=gdelta*g0;

		   pa.Print();
		 */
	}
}


TGeoHMatrix GetResSurvAlign(Int_t survNch, Int_t& offNch)
{
	// For a given chamber identified by survey chamber number 'survNch',
	// return the global matrix inferred from the survey points of its
	// 4 fiducial marks and set the offline chamber number 'offNch'
	//
	Int_t ChSrv2Off[7] = {4,3,5,1,6,2,0};
	//cout<<"  *********  Chamber Numbers  ******"<<endl;
	//cout<<"  ****  Survey   ****  Offline *****"<<endl;
	//for(Int_t ch=0; ch<7; ch++){
	//	cout<<"           "<<ch<<"              "<<ChSrv2Off[ch]<<endl;
	//}
	
	offNch=ChSrv2Off[survNch];

	Double_t ab[3], bc[3], n[3];
	Double_t plane[4], s;
	Double_t ngA[3]={fFM[0+4*survNch].X(),fFM[0+4*survNch].Y(),fFM[0+4*survNch].Z()};
	Double_t ngB[3]={fFM[1+4*survNch].X(),fFM[1+4*survNch].Y(),fFM[1+4*survNch].Z()};
	Double_t ngC[3]={fFM[2+4*survNch].X(),fFM[2+4*survNch].Y(),fFM[2+4*survNch].Z()};
	Double_t ngD[3]={fFM[3+4*survNch].X(),fFM[3+4*survNch].Y(),fFM[3+4*survNch].Z()};
	if(survNch>4)
	{
		// first vector on the plane of the fiducial marks
		for(Int_t i=0;i<3;i++){
			ab[i] = ngB[i] - ngA[i];
		}

		// second vector on the plane of the fiducial marks
		for(Int_t i=0;i<3;i++){
			bc[i] = ngC[i] - ngB[i];
		}
	}
	else{
		// first vector on the plane of the fiducial marks
		for(Int_t i=0;i<3;i++){
			ab[i] = ngB[i] - ngA[i];
		}

		// second vector on the plane of the fiducial marks
		for(Int_t i=0;i<3;i++){
			bc[i] = ngD[i] - ngB[i];
		}

	}
	// vector normal to the plane of the fiducial marks obtained
	// as cross product of the two vectors on the plane d0^d1
	n[0] = ab[1] * bc[2] - ab[2] * bc[1];
	n[1] = ab[2] * bc[0] - ab[0] * bc[2];
	n[2] = ab[0] * bc[1] - ab[1] * bc[0];

	Double_t sizen = TMath::Sqrt( n[0]*n[0] + n[1]*n[1] + n[2]*n[2] );
	if(sizen>1.e-8){
		s = Double_t(1.)/sizen ; //normalization factor
	}else{
		return 0;
	}

	// plane expressed in the hessian normal form, see:
	// http://mathworld.wolfram.com/HessianNormalForm.html
	// the first three are the coordinates of the orthonormal vector
	// the fourth coordinate is equal to the distance from the origin

	for(i=0;i<3;i++){
		plane[i] = n[i] * s;
	}
	plane[3] = -( plane[0] * ngA[0] + plane[1] * ngA[1] + plane[2] * ngA[2] );
	cout<<"normal to plane and distance from IP: "<<plane[0]<<"  "<<plane[1]<<"  "<<plane[2]<<"  "<<plane[3]<<"  "<<endl;

	// The center of the square with fiducial marks as corners
	// as the middle point of one diagonal - md
	// Used below to get the center - orig - of the surveyed box
	Double_t orig[3], md[3];

	if(survNch>4){
		for(i=0;i<3;i++){
			md[i] = (ngA[i] + ngC[i]) * 0.5;//modified!!!!!!!!!
		}

	}

	else {
		for(i=0;i<3;i++){
			md[i] = (ngA[i] + ngD[i]) * 0.5;//modified!!!!!!!!!
		}
	}
	cout<<"The center of the box from Survey data: "<<md[0]<<"  "<<md[1]<<"  "<<md[2]<<endl;
	const Double_t zdepth=-0.9-4.85; //the fiducial marks are down the radiator (behind the honeycomb structure). They
	//lay on 4 cylinders whose height is 9 mm.

	// The center of the box
	for(i=0;i<1;i++){
		orig[i] = md[i] - (-plane[i])*(zdepth+plane[3]);
	}
	orig[1] = md[1] - (-plane[1])*(zdepth+plane[3]);
	orig[2] = md[2] - (-plane[2])*(zdepth+plane[3]);

	cout<<"The origin of the box: "<<orig[0]<<"  "<<orig[1]<<"  "<<orig[2]<<endl;

	// get x,y local directions needed to write the global rotation matrix
	// for the surveyed volume by normalising vectors ab and bc
	Double_t sx = TMath::Sqrt(ab[0]*ab[0] + ab[1]*ab[1] + ab[2]*ab[2]);
	if(sx>1.e-8){
		for(i=0;i<3;i++){
			ab[i] /= sx;
		}
		cout<<"x "<<ab[0]<<"  "<<ab[1]<<"  "<<ab[2]<<endl;
	}
	Double_t sy = TMath::Sqrt(bc[0]*bc[0] + bc[1]*bc[1] + bc[2]*bc[2]);
	if(sy>1.e-8){
		for(i=0;i<3;i++){
			bc[i] /= sy;
		}
		cout<<"y "<<bc[0]<<"  "<<bc[1]<<"  "<<bc[2]<<endl;
	}


	// the global matrix for the surveyed volume - ng
        TVector3 v1;
        v1.SetXYZ(md[0],md[1],md[2]);

        TVector3 w=v1.Unit();
        Double_t chamberCenter[3];
        chamberCenter[0]=-w.X()*(zdepth-v1.Mag());
        chamberCenter[1]=-w.Y()*(zdepth-v1.Mag());
        chamberCenter[2]=-w.Z()*(zdepth-v1.Mag());

	Double_t rot[9] = {-ab[0],bc[0],-plane[0],-ab[1],bc[1],-plane[1],-ab[2],bc[2],-plane[2]};
	TGeoHMatrix ng;
	ng.SetTranslation(md);
	ng.SetRotation(rot);

	cout<<"\n********* global matrix inferred from surveyed fiducial marks for chamber"<<survNch<<"***********\n";
	ng.Print();


	return ng;

}
Commit	Line	Data
447e91ca	1	TVector3 fFM[28]; //array of global coordinates for 28 fiducial marks
	2	Int_t sNch, oNch; // survey and offline chamber's number
	3
	4
	5	TGeoHMatrix GetResSurvAlign(Int_t survNch, Int_t& offNch);
	6
	7	void SurveyToAlignHmpid(const char* filename="Survey_781282_HMPID.txt"){
	8	// Open file with AliSurveyPoints for the 7 HMPID chambers
	9	// Produce the corresponding alignment objects
	10
	11	AliSurveyObj *so = new AliSurveyObj();
	12
	13	Int_t size = so->GetEntries();
	14	printf("-> %d\n", size);
	15
	16	so->FillFromLocalFile(filename);
	17	size = so->GetEntries();
	18	printf("--> %d\n", size);
	19
	20	TObjArray *points = so->GetData();
9234c352	21
	22	// We retrieve and open the ideal geometry
	23	AliCDBManager* cdbman = AliCDBManager::Instance();
	24	if(!cdbman->IsDefaultStorageSet()){
162637e4	25	cdbman->SetDefaultStorage("local://$ALICE_ROOT/OCDB");
9234c352	26	}else{
162637e4	27	cdbman->SetSpecificStorage("GRP/Geometry/*","local://$ALICE_ROOT/OCDB");
9234c352	28	}
	29	cdbman->SetRun(0);
	30	AliCDBEntry* cdbe = (AliCDBEntry*) cdbman->Get("GRP/Geometry/Data");
447e91ca	31
447e91ca	32
	33	for (Int_t i = 0; i < points->GetEntries(); ++i)
	34	{
	35	AliSurveyPoint p=(AliSurveyPoint ) points->At(i);
	36	fFM[i].SetXYZ(p->GetX()100.,p->GetY()100.,p->GetZ()*100.);
	37	}
	38
	39	TString chbasename("/HMPID/Chamber");
	40	for(Int_t sNch=0; sNch<7; sNch++){
	41	TGeoHMatrix mtx = GetResSurvAlign(sNch,oNch); //get global matrix from survey points
	42
	43	TString chsymname = chbasename;
	44	chsymname += oNch;
	45	printf("getting global matrix for the alignable volume %s\n",chsymname.Data());
	46	TGeoHMatrix *gm = AliGeomManager::GetMatrix(chsymname.Data());
	47
	48	if(!gm){
	49	printf("unable to get global matrix for the alignable volume %s\n",chsymname.Data());
	50	continue;
	51	}
	52	TGeoHMatrix gdelta = gm->Inverse();
	53	gdelta.MultiplyLeft(&mtx);
	54
	55	//gdelta.Print();
	56
	57	AliAlignObjMatrix* mobj = new
	58	AliAlignObjMatrix(AliGeomManager::SymName(AliGeomManager::LayerToVolUID(AliGeomManager::kHMPID,oNch)),
	59	AliGeomManager::LayerToVolUID(AliGeomManager::kHMPID,oNch),gdelta,kTRUE);
	60	/*
	61	cout<<"\n*********** obtained AliAlignObjMatrix**********\n";
	62	mobj->Print();
	63	cout<<""<<endl;
	64
	65	TGeoHMatrix pa=gdelta*g0;
	66
	67	pa.Print();
	68	*/
	69	}
e4c1cb11	70	}
	71
	72
447e91ca	73	TGeoHMatrix GetResSurvAlign(Int_t survNch, Int_t& offNch)
e4c1cb11	74	{
447e91ca	75	// For a given chamber identified by survey chamber number 'survNch',
	76	// return the global matrix inferred from the survey points of its
	77	// 4 fiducial marks and set the offline chamber number 'offNch'
	78	//
	79	Int_t ChSrv2Off[7] = {4,3,5,1,6,2,0};
	80	//cout<<" ******* Chamber Numbers ****"<<endl;
	81	//cout<<" ** Survey Offline ***"<<endl;
	82	//for(Int_t ch=0; ch<7; ch++){
	83	// cout<<" "<<ch<<" "<<ChSrv2Off[ch]<<endl;
	84	//}
	85
	86	offNch=ChSrv2Off[survNch];
	87
	88	Double_t ab[3], bc[3], n[3];
	89	Double_t plane[4], s;
	90	Double_t ngA[3]={fFM[0+4survNch].X(),fFM[0+4survNch].Y(),fFM[0+4*survNch].Z()};
	91	Double_t ngB[3]={fFM[1+4survNch].X(),fFM[1+4survNch].Y(),fFM[1+4*survNch].Z()};
	92	Double_t ngC[3]={fFM[2+4survNch].X(),fFM[2+4survNch].Y(),fFM[2+4*survNch].Z()};
	93	Double_t ngD[3]={fFM[3+4survNch].X(),fFM[3+4survNch].Y(),fFM[3+4*survNch].Z()};
	94	if(survNch>4)
	95	{
	96	// first vector on the plane of the fiducial marks
	97	for(Int_t i=0;i<3;i++){
	98	ab[i] = ngB[i] - ngA[i];
	99	}
	100
	101	// second vector on the plane of the fiducial marks
	102	for(Int_t i=0;i<3;i++){
	103	bc[i] = ngC[i] - ngB[i];
	104	}
	105	}
	106	else{
	107	// first vector on the plane of the fiducial marks
	108	for(Int_t i=0;i<3;i++){
	109	ab[i] = ngB[i] - ngA[i];
	110	}
	111
	112	// second vector on the plane of the fiducial marks
	113	for(Int_t i=0;i<3;i++){
	114	bc[i] = ngD[i] - ngB[i];
	115	}
	116
	117	}
	118	// vector normal to the plane of the fiducial marks obtained
	119	// as cross product of the two vectors on the plane d0^d1
	120	n[0] = ab[1] * bc[2] - ab[2] * bc[1];
	121	n[1] = ab[2] * bc[0] - ab[0] * bc[2];
	122	n[2] = ab[0] * bc[1] - ab[1] * bc[0];
	123
	124	Double_t sizen = TMath::Sqrt( n[0]n[0] + n[1]n[1] + n[2]*n[2] );
	125	if(sizen>1.e-8){
	126	s = Double_t(1.)/sizen ; //normalization factor
	127	}else{
	128	return 0;
	129	}
	130
	131	// plane expressed in the hessian normal form, see:
	132	// http://mathworld.wolfram.com/HessianNormalForm.html
	133	// the first three are the coordinates of the orthonormal vector
	134	// the fourth coordinate is equal to the distance from the origin
	135
	136	for(i=0;i<3;i++){
	137	plane[i] = n[i] * s;
	138	}
139	plane[3] = -( plane[0] * ngA[0] + plane[1] * ngA[1] + plane[2] * ngA[2] );
140	cout<<"normal to plane and distance from IP: "<<plane[0]<<" "<<plane[1]<<" "<<plane[2]<<" "<<plane[3]<<" "<<endl;
141
142	// The center of the square with fiducial marks as corners
143	// as the middle point of one diagonal - md
144	// Used below to get the center - orig - of the surveyed box
145	Double_t orig[3], md[3];
146
147	if(survNch>4){
148	for(i=0;i<3;i++){
149	md[i] = (ngA[i] + ngC[i]) * 0.5;//modified!!!!!!!!!
150	}
151
152	}
153
154	else {
155	for(i=0;i<3;i++){
156	md[i] = (ngA[i] + ngD[i]) * 0.5;//modified!!!!!!!!!
157	}
158	}
fe192f48	159	cout<<"The center of the box from Survey data: "<<md[0]<<" "<<md[1]<<" "<<md[2]<<endl;
447e91ca	160	const Double_t zdepth=-0.9-4.85; //the fiducial marks are down the radiator (behind the honeycomb structure). They
	161	//lay on 4 cylinders whose height is 9 mm.
	162
	163	// The center of the box
	164	for(i=0;i<1;i++){
	165	orig[i] = md[i] - (-plane[i])*(zdepth+plane[3]);
	166	}
	167	orig[1] = md[1] - (-plane[1])*(zdepth+plane[3]);
	168	orig[2] = md[2] - (-plane[2])*(zdepth+plane[3]);
	169
fe192f48	170	cout<<"The origin of the box: "<<orig[0]<<" "<<orig[1]<<" "<<orig[2]<<endl;
447e91ca	171
	172	// get x,y local directions needed to write the global rotation matrix
	173	// for the surveyed volume by normalising vectors ab and bc
	174	Double_t sx = TMath::Sqrt(ab[0]ab[0] + ab[1]ab[1] + ab[2]*ab[2]);
	175	if(sx>1.e-8){
	176	for(i=0;i<3;i++){
	177	ab[i] /= sx;
	178	}
fe192f48	179	cout<<"x "<<ab[0]<<" "<<ab[1]<<" "<<ab[2]<<endl;
447e91ca	180	}
	181	Double_t sy = TMath::Sqrt(bc[0]bc[0] + bc[1]bc[1] + bc[2]*bc[2]);
	182	if(sy>1.e-8){
	183	for(i=0;i<3;i++){
	184	bc[i] /= sy;
	185	}
fe192f48	186	cout<<"y "<<bc[0]<<" "<<bc[1]<<" "<<bc[2]<<endl;
447e91ca	187	}
	188
	189
	190	// the global matrix for the surveyed volume - ng
fe192f48	191	TVector3 v1;
	192	v1.SetXYZ(md[0],md[1],md[2]);
	193
	194	TVector3 w=v1.Unit();
	195	Double_t chamberCenter[3];
	196	chamberCenter[0]=-w.X()*(zdepth-v1.Mag());
	197	chamberCenter[1]=-w.Y()*(zdepth-v1.Mag());
	198	chamberCenter[2]=-w.Z()*(zdepth-v1.Mag());
	199
447e91ca	200	Double_t rot[9] = {-ab[0],bc[0],-plane[0],-ab[1],bc[1],-plane[1],-ab[2],bc[2],-plane[2]};
	201	TGeoHMatrix ng;
	202	ng.SetTranslation(md);
	203	ng.SetRotation(rot);
	204
	205	cout<<"\n******* global matrix inferred from surveyed fiducial marks for chamber"<<survNch<<"*********\n";
	206	ng.Print();
	207
	208
	209	return ng;
e4c1cb11	210
	211	}
	212
	213
	214
	215