[u/mrichter/AliRoot.git] / PMD / PMDSurveyToAlignment_v1.C

void PMDSurveyToAlignment_v1(){

  // Macro to convert survey data into alignment data. 
  // The position of four fiducial marks, sticked on the 
  // preshower plane of PMD is converted into the 
  // global position. 
  
  if(!gGeoManager) AliGeomManager::LoadGeometry("geometry.root");
  
  TClonesArray *array = new TClonesArray("AliAlignObjMatrix",10);
  TClonesArray &mobj = *array;
  
  Double_t l_vect[3]={0.,0.,0.}; // a local vector (the origin)
  
  Double_t g_vect_1[3];    // vector corresp. to it in global RS for sector-1
  Double_t g_vect_2[3];    // vector corresp. to it in global RS for sector-2
  Double_t g_vect_3[3];    // vector corresp. to it in global RS for sector-3
  Double_t g_vect_4[3];    // vector corresp. to it in global RS for sector-4
  
  //**************** get global matrix *******************
  
  TGeoHMatrix *g3_1 = AliGeomManager::GetMatrix("PMD/Sector1");
  TGeoNode* n3_1 = gGeoManager->GetCurrentNode();
  TGeoHMatrix* l3_1 = n3_1->GetMatrix();// to get local matrix  
  g3_1->LocalToMaster(l_vect,g_vect_1); // point coordinates in the global RS
  
  cout<<endl<<"Origin of sector-1 in the global RS: "<<
    g_vect_1[0]<<" "<<g_vect_1[1]<<" "<<g_vect_1[2]<<" "<<endl;


  TGeoHMatrix *g3_2 = AliGeomManager::GetMatrix("PMD/Sector2");
  TGeoNode* n3_2 = gGeoManager->GetCurrentNode();
  TGeoHMatrix* l3_2 = n3_2->GetMatrix(); 
  g3_2->LocalToMaster(l_vect,g_vect_2);
  
  cout<<endl<<"Origin of sector-2 in the global RS: "<<
    g_vect_2[0]<<" "<<g_vect_2[1]<<" "<<g_vect_2[2]<<" "<<endl;


  TGeoHMatrix *g3_3 = AliGeomManager::GetMatrix("PMD/Sector3");
  TGeoNode* n3_3 = gGeoManager->GetCurrentNode();
  TGeoHMatrix* l3_3 = n3_3->GetMatrix(); 
  g3_3->LocalToMaster(l_vect,g_vect_3);
  
  cout<<endl<<"Origin of the sector-3 in the global RS: "<<
    g_vect_3[0]<<" "<<g_vect_3[1]<<" "<<g_vect_3[2]<<" "<<endl;
  

  TGeoHMatrix *g3_4 = AliGeomManager::GetMatrix("PMD/Sector4");
  TGeoNode* n3_4 = gGeoManager->GetCurrentNode();
  TGeoHMatrix* l3_4 = n3_4->GetMatrix();
  g3_4->LocalToMaster(l_vect,g_vect_4);
    
  cout<<endl<<"Origin of the sector-4 in the global RS: "<<
    g_vect_4[0]<<" "<<g_vect_4[1]<<" "<<g_vect_4[2]<<" "<<endl;
  
         
  // From the coordinates of fiducial marks derive back the
  // new global position of the surveyed volume.                    
  // What follows is the actual survey-to-alignment procedure which assumes,
  // 4 fiducial marks at the corners of a rectangle lying on a plane parallel
  // to a  surface of the detector at a certain offset and with x and y sides
  // parallel to the detector's x and y axes.
  // It needs as input of four points and the offset from the origin (zdepth).
  // The algorithm can be easily modified for different placement and/or
  // cardinality of the fiducial marks.
  
  // Now specify the path of the module to be misaligned
  // as followed for the PMD geometry in Geant.
  
  /*
                                Y|
                                 |
     _____________           D(3)|_____________C(2)
    |    |        |              |             |
    | 1  |   3    |              |             |
    |    |________|              |             |
    |____|___|    |              |             |
    |        | 2  |              |             |
    |   4    |    |              |_____________|_______
    |________|____|          A(0)              B(1)     X
    
    //
    // Misalignment Matrix is set  for sector-1, sector-2, sector-3 and 
    // sector-4 even though  sectors 1 and 4  and  sectors 2 and 3
    // will be mounted on the same steel plate. 
    */
  
// All the units are in milimeter in survey data file.
  
// Retrieval of real survey data from ALICE Survey Data Depot : 
  
  AliSurveyObj *so = new AliSurveyObj();
  //so->FillFromLocalFile("Survey_Points_PMD01.txt");//this file will be given 
  //by the surveyer after the installation of PMD.
  
  so->FillFromLocalFile("PMDGenSurveyPoints_v1.txt");//This file can be generated by the user.

  Int_t size = so->GetEntries();
  Printf("Title: \"%s\"", so->GetReportTitle().Data());
  Printf("Date: \"%s\"", so->GetReportDate().Data());
  Printf("Detector: \"%s\"", so->GetDetector().Data());
  Printf("URL: \"%s\"", so->GetURL().Data());
  Printf("Number: \"%d\"", so->GetReportNumber());
  Printf("Version: \"%d\"", so->GetReportVersion());
  Printf("Observations: \"%s\"", so->GetObservations().Data());
  Printf("Coordinate System: \"%s\"", so->GetCoordSys().Data());
  Printf("Measurement Units: \"%s\"", so->GetUnits().Data());
  Printf("Nr Columns: \"%d\" \n", so->GetNrColumns());
  
  TObjArray *colNames = so->GetColumnNames();
  TObjArray   *points = so->GetData();
  
  Printf("Relevant points to be used for alignment procedure (in mm):"); 
  printf("%d \n",points->GetEntries());
  
  Float_t surveyFidX[28];
  Float_t surveyFidY[28];
  Float_t surveyFidZ[28];
  
  for (Int_t i = 0; i < points->GetEntries(); ++i)
    {
      
      surveyFidX[i] = (((AliSurveyPoint *) points->At(i))->GetX());
      surveyFidY[i] = (((AliSurveyPoint *) points->At(i))->GetY());
      surveyFidZ[i] = (((AliSurveyPoint *) points->At(i))->GetZ());
    }

  for (Int_t i=0; i < 28; i++)
    {
      // printf("%f %f %f\n",surveyFidX[i],surveyFidY[i],surveyFidZ[i]);

    }
  
  const Int_t kNDIM1 = 3;
  const Int_t kNDIM2 = 4;
  const Double_t kIdealOrig[kNDIM1] = {0., 0., 3645.}; // Geant values
  
  Int_t i;
  
  Double_t s1;
  Double_t ab1[kNDIM1], bc1[kNDIM1], nn1[kNDIM1], plane1[kNDIM1]; 
  Double_t nga1[kNDIM2][kNDIM1];
  
  Double_t s2;
  Double_t ab2[kNDIM1], bc2[kNDIM1], nn2[kNDIM1], plane2[kNDIM1];
  Double_t nga2[kNDIM2][kNDIM1];
 
  Double_t s3;
  Double_t ab3[kNDIM1], bc3[kNDIM1], nn3[kNDIM1], plane3[kNDIM1];
  Double_t nga3[kNDIM2][kNDIM1];
  
  Double_t s4;
  Double_t ab4[kNDIM1], bc4[kNDIM1], nn4[kNDIM1], plane4[kNDIM1];
  Double_t nga4[kNDIM2][kNDIM1];
  
  // These are the sequence of fiducial marks for sector-1,2,3 & 4 - to be 
  // given by the user.
  
  Int_t surseq1[kNDIM2] = {19, 20, 18, 17};
  Int_t surseq2[kNDIM2] = {15, 16, 14, 13};
  Int_t surseq3[kNDIM2] = {11, 12, 06, 05};
  Int_t surseq4[kNDIM2] = {27, 28, 22, 21};
  
  for (i = 0; i < 28; i++)
    {
      for (Int_t j = 0; j < 4; j++)
	{
	  if (surseq1[j] == i+1)
	    {
	      nga1[j][0] = surveyFidX[i];
	      nga1[j][1] = surveyFidY[i];
	      nga1[j][2] = surveyFidZ[i];
	    }
	  else if (surseq2[j] == i+1)
	    {
	      nga2[j][0] = surveyFidX[i];
	      nga2[j][1] = surveyFidY[i];
	      nga2[j][2] = surveyFidZ[i];
	    }
	  else if (surseq3[j] == i+1)
	    {
	      nga3[j][0] = surveyFidX[i];
	      nga3[j][1] = surveyFidY[i];
	      nga3[j][2] = surveyFidZ[i];
	    }
	  else if (surseq4[j] == i+1)
	    {
	      nga4[j][0] = surveyFidX[i];
	      nga4[j][1] = surveyFidY[i];
	      nga4[j][2] = surveyFidZ[i];
	    }
	}
      
    }
  
  // First vector on the plane of the fiducial marks.
  
  for(i = 0; i < kNDIM1; i++)
    {
      ab1[i] = nga1[1][i] - nga1[0][i];
      ab2[i] = nga2[1][i] - nga2[0][i];
      ab3[i] = nga3[1][i] - nga3[0][i];
      ab4[i] = nga4[1][i] - nga4[0][i];
    }
  
  // Second vector on the plane of the fiducial marks.
  
  for(i = 0; i < kNDIM1; i++)
    {
      bc1[i] = nga1[2][i] - nga1[1][i];
      bc2[i] = nga2[2][i] - nga2[1][i];
      bc3[i] = nga3[2][i] - nga3[1][i];
      bc4[i] = nga4[2][i] - nga4[1][i];
    }
  
  // Vector normal to the plane of the fiducial marks obtained
  // as cross product of the two vectors on the sector-1,2,3 and 4.
  
  // Vector normal to the sector-1.
  
  nn1[0] = ab1[1] * bc1[2] - ab1[2] * bc1[1];
  nn1[1] = ab1[2] * bc1[0] - ab1[0] * bc1[2];
  nn1[2] = ab1[0] * bc1[1] - ab1[1] * bc1[0];
  
  // Vector normal to the sector-2.
  
  nn2[0] = ab2[1] * bc2[2] - ab2[2] * bc2[1];
  nn2[1] = ab2[2] * bc2[0] - ab2[0] * bc2[2];
  nn2[2] = ab2[0] * bc2[1] - ab2[1] * bc2[0];
  
  // Vector normal to the sector-3.
  
  nn3[0] = ab3[1] * bc3[2] - ab3[2] * bc3[1];
  nn3[1] = ab3[2] * bc3[0] - ab3[0] * bc3[2];
  nn3[2] = ab3[0] * bc3[1] - ab3[1] * bc3[0];
  
  // Vector normal to the sector-4.
  
  nn4[0] = ab4[1] * bc4[2] - ab4[2] * bc4[1];
  nn4[1] = ab4[2] * bc4[0] - ab4[0] * bc4[2];
  nn4[2] = ab4[0] * bc4[1] - ab4[1] * bc4[0];
  
  Double_t sizen1 = TMath::Sqrt( nn1[0]*nn1[0] + nn1[1]*nn1[1] +
				 nn1[2]*nn1[2] );
  Double_t sizen2 = TMath::Sqrt( nn2[0]*nn2[0] + nn2[1]*nn2[1] +
				 nn2[2]*nn2[2] );
  Double_t sizen3 = TMath::Sqrt( nn3[0]*nn3[0] + nn3[1]*nn3[1] +
				 nn3[2]*nn3[2] );
  Double_t sizen4 = TMath::Sqrt( nn4[0]*nn4[0] + nn4[1]*nn4[1] +
				 nn4[2]*nn4[2] );
  
  if(sizen1 > 1.e-8)
    {
      s1 = Double_t(1.)/sizen1 ; //normalization factor
    }
  else
    {
      return 0;
    }
  
  if(sizen2 > 1.e-8)
    {
      s2 = Double_t(1.)/sizen2 ; //normalization factor
    }
  else
    {
      return 0;
    }
  
  if(sizen3 > 1.e-8)
    {
      s3 = Double_t(1.)/sizen3 ; //normalization factor
    }
  else
    {
      return 0;
    }
  
  if(sizen4 > 1.e-8)
    {
      s4 = Double_t(1.)/sizen4 ; //normalization factor
    }
  else
    {
      return 0;
    }
  
  // Plane expressed in the hessian normal form, see:
  // http://mathworld.wolfram.com/HessianNormalForm.html
  
  for(i = 0; i < kNDIM1; i++)
    {
      plane1[i] = nn1[i] * s1;
      plane2[i] = nn2[i] * s2;
      plane3[i] = nn3[i] * s3;
      plane4[i] = nn4[i] * s4;
    }
  
  cout<<"Unit vector normal to sector-1 : "<<plane1[0]
      <<" "<<plane1[1]<<" "<<plane1[2]<<endl;
  cout<<"Unit vector normal to sector-2 : "<<plane2[0]
      <<" "<<plane2[1]<<" "<<plane2[2]<<endl;
  cout<<"Unit vector normal to sector-3 : "<<plane3[0]
      <<" "<<plane3[1]<<" "<<plane3[2]<<endl;
  cout<<"Unit vector normal to sector-4 : "<<plane4[0]
      <<" "<<plane4[1]<<" "<<plane4[2]<<endl;
  
  // The center of the sector with fiducial marks as corners,
  // is the middle point of one diagonal. 
  
  Double_t orig1[kNDIM1], md1[kNDIM1];
  Double_t orig2[kNDIM1], md2[kNDIM1];
  Double_t orig3[kNDIM1], md3[kNDIM1];
  Double_t orig4[kNDIM1], md4[kNDIM1];
  
  for(i = 0; i < kNDIM1; i++)
    {
      md1[i] = (nga1[0][i] + nga1[1][i]) * 0.5;
      md2[i] = (nga2[2][i] + nga2[3][i]) * 0.5;
      md3[i] = (nga3[0][i] + nga3[2][i]) * 0.5;
      md4[i] = (nga4[0][i] + nga4[2][i]) * 0.5;
    }
  
  const Double_t kZdepth = 23.;//(Zdepth+zoffset) is the distance 
  //from surface to centre of the PMD. 
  
  for(i = 0; i < kNDIM1; i++)
    {
      orig1[i] = md1[i] - plane1[i]*kZdepth;
      orig2[i] = md2[i] - plane2[i]*kZdepth;
      orig3[i] = md3[i] - plane3[i]*kZdepth;
      orig4[i] = md4[i] - plane4[i]*kZdepth;
    }
  
  Double_t PMDorig1[kNDIM1];
  Double_t PMDorig2[kNDIM1];
  for(i = 0; i < kNDIM1; i++)
    {
      PMDorig1[i] = (orig1[i] + orig2[i]) * 0.5;
      PMDorig2[i] = (orig3[i] + orig4[i]) * 0.5;
    }
  
  // Get x,y local directions needed to write the global rotation matrix
  // for the surveyed volume by normalising vectors ab1 and bc1

  Double_t sx1 = TMath::Sqrt(ab1[0]*ab1[0] + ab1[1]*ab1[1] +
			     ab1[2]*ab1[2]);
  if(sx1 > 1.e-8)
    {
      for(i = 0; i < 3; i++)
	{
	  ab1[i] /= sx1;
	}
    }
  
  Double_t sy1 = TMath::Sqrt(bc1[0]*bc1[0] + bc1[1]*bc1[1] +
			     bc1[2]*bc1[2]);
  if(sy1 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  bc1[i] /= sy1;
	}
    }
  
  Double_t sx2 = TMath::Sqrt(ab2[0]*ab2[0] + ab2[1]*ab2[1] +
			     ab2[2]*ab2[2]);
  if(sx2 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  ab2[i] /= sx2;
	}
    }
  
  Double_t sy2 = TMath::Sqrt(bc2[0]*bc2[0] + bc2[1]*bc2[1] +
			     bc2[2]*bc2[2]);
  if(sy2 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  bc2[i] /= sy2;
	}
    }
  
  Double_t sx3 = TMath::Sqrt(ab3[0]*ab3[0] + ab3[1]*ab3[1] +
			     ab3[2]*ab3[2]);
  if(sx3 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  ab3[i] /= sx3;
	}
    }
  
  Double_t sy3 = TMath::Sqrt(bc3[0]*bc3[0] + bc3[1]*bc3[1] +
			     bc3[2]*bc3[2]);
  if(sy3 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  bc3[i] /= sy3;
	}
    }
  
  Double_t sx4 = TMath::Sqrt(ab4[0]*ab4[0] + ab4[1]*ab4[1] +
			     ab4[2]*ab4[2]);
  if(sx4 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  ab4[i] /= sx4;
	}
    }
  
  Double_t sy4 = TMath::Sqrt(bc4[0]*bc4[0] + bc4[1]*bc4[1] +
			     bc4[2]*bc4[2]);
  if(sy4 > 1.e-8)
    {
      for(i = 0; i < kNDIM1; i++)
	{
	  bc4[i] /= sy4;
	}
    }
  
  // The global matrix for the surveyed volume - ng_1
  
  Double_t rot1[9] = { ab1[0], bc1[0], plane1[0],
		       ab1[1], bc1[1], plane1[1],
		       ab1[2], bc1[2], plane1[2]};
  
  TGeoHMatrix ng_1;
  for(Int_t i=0; i<3; i++) orig1[i]*=0.1;// To convert the surveyed origin 
  //in cm, as in geometry all the distances are in cm.
  
  orig1[0]=orig1[0]- 0.321402;//offset in X.
  orig1[1]=orig1[1]- 0.074998;//offset in Y.
  ng_1.SetTranslation(orig1);
  ng_1.SetRotation(rot1);
  
  // cout<<"\n** Global Matrix from surveyed fiducial marks for sector-1 **\n";
  //ng_1.Print();
  
  Double_t rot2[9] = {ab2[0], bc2[0], plane2[0],
		      ab2[1], bc2[1], plane2[1],
		      ab2[2], bc2[2], plane2[2]};
  
  TGeoHMatrix ng_2;
  for(Int_t i=0; i<3; i++) orig2[i]*=0.1;
  orig2[0]=orig2[0]+ 0.321402;//offset in X.
  orig2[1]=orig2[1]+ 0.074998;//offset in Y.
  ng_2.SetTranslation(orig2);
  ng_2.SetRotation(rot2);
  
  // cout<<"\n** Global Matrix from surveyed fiducial marks for sector-2 **\n";
  // ng_2.Print();
  
  Double_t rot3[9] = {ab3[0], bc3[0], plane3[0],
		      ab3[1], bc3[1], plane3[1],
		      ab3[2], bc3[2], plane3[2]};
  
  TGeoHMatrix ng_3;
  for(Int_t i=0; i<3; i++) orig3[i]*=0.1;
  orig3[0]=orig3[0]+ 0.291602;//offset in X
  orig3[1]=orig3[1]+ 0.100001;//offset in Y
  ng_3.SetTranslation(orig3);
  ng_3.SetRotation(rot3);
  
  // cout<<"\n** Global Matrix from surveyed fiducial marks for sector-3 **\n";
  //ng_3.Print();
  
  
  Double_t rot4[9] = {ab4[0], bc4[0], plane4[0],
		      ab4[1], bc4[1], plane4[1],
		      ab4[2], bc4[2], plane4[2]};
  
  TGeoHMatrix ng_4;
  for(Int_t i=0; i<3; i++) orig4[i]*=0.1;
  orig4[0]=orig4[0]- 0.291602;//offset in X
  orig4[1]=orig4[1]- 0.100001;//offset in Y
  ng_4.SetTranslation(orig4);
  ng_4.SetRotation(rot4);
  
  //cout<<"\n** Global Matrix from surveyed fiducial marks for sector-4 **\n";
  //ng_4.Print();
  
  
  // To produce the alignment object for the given volume you would
  // then do something like this:
  // Calculate the global delta transformation as ng * g3^-1
  
  TGeoPhysicalNode* pn3_1 = gGeoManager->MakePhysicalNode("ALIC_1/EPM1_1");
  TGeoHMatrix gdelta_1 = g3_1->Inverse(); //now equal to the inverse of g3
  gdelta_1.MultiplyLeft(&ng_1);
  Int_t index = 0;
  Printf("The global delta transformation for sector-1");
  gdelta_1.Print();
  
  TGeoPhysicalNode* pn3_2 = gGeoManager->MakePhysicalNode("ALIC_1/EPM2_1");
  TGeoHMatrix gdelta_2 = g3_2->Inverse(); 
  gdelta_2.MultiplyLeft(&ng_2);
  Int_t index = 0;
  Printf("The global delta transformation for sector-2");
  gdelta_2.Print();
  
  TGeoPhysicalNode* pn3_3 = gGeoManager->MakePhysicalNode("ALIC_1/EPM3_1");
  TGeoHMatrix gdelta_3 = g3_3->Inverse(); 
  gdelta_3.MultiplyLeft(&ng_3);
  Int_t index = 0;
  Printf("The global delta transformation for sector-3");
  gdelta_3.Print();
  
  TGeoPhysicalNode* pn3_4 = gGeoManager->MakePhysicalNode("ALIC_1/EPM4_1");
  TGeoHMatrix gdelta_4 = g3_4->Inverse(); 
  gdelta_4.MultiplyLeft(&ng_4);
  Int_t index = 0;
  Printf("The global delta transformation for sector-4");
  gdelta_4.Print();
  
  new(mobj[0]) AliAlignObjMatrix("PMD/Sector1",index,gdelta_1,kTRUE);
  new(mobj[1]) AliAlignObjMatrix("PMD/Sector2",index,gdelta_2,kTRUE);
  new(mobj[2]) AliAlignObjMatrix("PMD/Sector3",index,gdelta_3,kTRUE);
  new(mobj[3]) AliAlignObjMatrix("PMD/Sector4",index,gdelta_4,kTRUE);
  
  
  TString strStorage(gSystem->Getenv("TOCDB"));
  if(strStorage != TString("kTRUE")){
    // save on file
    TFile f("PMDSurvey.root","RECREATE");
    if(!f) cerr<<"cannot open file for output\n";
    f.cd();
    f.WriteObject(array,"PMDSurveyObjs ","kSingleKey");
    f.Close();
  }else{
    // save in CDB storage
    AliCDBManager* cdb = AliCDBManager::Instance();
    AliCDBStorage* storage = cdb->GetStorage("local://$ALICE_ROOT/OCDB");
    AliCDBMetaData* mda = new AliCDBMetaData();
    mda->SetResponsible("   ");
    mda->SetComment("Alignment objects for PMD survey");
    AliCDBId id("PMD/Align/Data",0,AliCDBRunRange::Infinity());
    storage->Put(array,id,mda);
  }
  
  array->Delete();
}
Commit	Line	Data
c991220d	1	void PMDSurveyToAlignment_v1(){
	2
	3	// Macro to convert survey data into alignment data.
	4	// The position of four fiducial marks, sticked on the
	5	// preshower plane of PMD is converted into the
	6	// global position.
	7
	8	if(!gGeoManager) AliGeomManager::LoadGeometry("geometry.root");
	9
	10	TClonesArray *array = new TClonesArray("AliAlignObjMatrix",10);
	11	TClonesArray &mobj = *array;
	12
	13	Double_t l_vect[3]={0.,0.,0.}; // a local vector (the origin)
	14
	15	Double_t g_vect_1[3]; // vector corresp. to it in global RS for sector-1
	16	Double_t g_vect_2[3]; // vector corresp. to it in global RS for sector-2
	17	Double_t g_vect_3[3]; // vector corresp. to it in global RS for sector-3
	18	Double_t g_vect_4[3]; // vector corresp. to it in global RS for sector-4
	19
	20	//************** get global matrix *****************
	21
	22	TGeoHMatrix *g3_1 = AliGeomManager::GetMatrix("PMD/Sector1");
	23	TGeoNode* n3_1 = gGeoManager->GetCurrentNode();
	24	TGeoHMatrix* l3_1 = n3_1->GetMatrix();// to get local matrix
	25	g3_1->LocalToMaster(l_vect,g_vect_1); // point coordinates in the global RS
	26
	27	cout<<endl<<"Origin of sector-1 in the global RS: "<<
	28	g_vect_1[0]<<" "<<g_vect_1[1]<<" "<<g_vect_1[2]<<" "<<endl;
	29
	30
	31	TGeoHMatrix *g3_2 = AliGeomManager::GetMatrix("PMD/Sector2");
	32	TGeoNode* n3_2 = gGeoManager->GetCurrentNode();
	33	TGeoHMatrix* l3_2 = n3_2->GetMatrix();
	34	g3_2->LocalToMaster(l_vect,g_vect_2);
	35
	36	cout<<endl<<"Origin of sector-2 in the global RS: "<<
	37	g_vect_2[0]<<" "<<g_vect_2[1]<<" "<<g_vect_2[2]<<" "<<endl;
	38
	39
	40	TGeoHMatrix *g3_3 = AliGeomManager::GetMatrix("PMD/Sector3");
	41	TGeoNode* n3_3 = gGeoManager->GetCurrentNode();
	42	TGeoHMatrix* l3_3 = n3_3->GetMatrix();
	43	g3_3->LocalToMaster(l_vect,g_vect_3);
	44
	45	cout<<endl<<"Origin of the sector-3 in the global RS: "<<
	46	g_vect_3[0]<<" "<<g_vect_3[1]<<" "<<g_vect_3[2]<<" "<<endl;
	47
	48
	49	TGeoHMatrix *g3_4 = AliGeomManager::GetMatrix("PMD/Sector4");
	50	TGeoNode* n3_4 = gGeoManager->GetCurrentNode();
	51	TGeoHMatrix* l3_4 = n3_4->GetMatrix();
	52	g3_4->LocalToMaster(l_vect,g_vect_4);
	53
	54	cout<<endl<<"Origin of the sector-4 in the global RS: "<<
	55	g_vect_4[0]<<" "<<g_vect_4[1]<<" "<<g_vect_4[2]<<" "<<endl;
	56
	57
	58	// From the coordinates of fiducial marks derive back the
	59	// new global position of the surveyed volume.
	60	// What follows is the actual survey-to-alignment procedure which assumes,
	61	// 4 fiducial marks at the corners of a rectangle lying on a plane parallel
	62	// to a surface of the detector at a certain offset and with x and y sides
	63	// parallel to the detector's x and y axes.
	64	// It needs as input of four points and the offset from the origin (zdepth).
65	// The algorithm can be easily modified for different placement and/or
66	// cardinality of the fiducial marks.
67
68	// Now specify the path of the module to be misaligned
69	// as followed for the PMD geometry in Geant.
70
71	/*
72	Y\|
73	\|
74	_____________ D(3)\|_____________C(2)
75	\| \| \| \| \|
76	\| 1 \| 3 \| \| \|
77	\| \|________\| \| \|
78	\|____\|___\| \| \| \|
79	\| \| 2 \| \| \|
80	\| 4 \| \| \|_____________\|_______
81	\|________\|____\| A(0) B(1) X
82
83	//
84	// Misalignment Matrix is set for sector-1, sector-2, sector-3 and
85	// sector-4 even though sectors 1 and 4 and sectors 2 and 3
86	// will be mounted on the same steel plate.
87	*/
88
89	// All the units are in milimeter in survey data file.
90
91	// Retrieval of real survey data from ALICE Survey Data Depot :
92
93	AliSurveyObj *so = new AliSurveyObj();
94	//so->FillFromLocalFile("Survey_Points_PMD01.txt");//this file will be given
95	//by the surveyer after the installation of PMD.
96
97	so->FillFromLocalFile("PMDGenSurveyPoints_v1.txt");//This file can be generated by the user.
98
99	Int_t size = so->GetEntries();
100	Printf("Title: \"%s\"", so->GetReportTitle().Data());
101	Printf("Date: \"%s\"", so->GetReportDate().Data());
102	Printf("Detector: \"%s\"", so->GetDetector().Data());
103	Printf("URL: \"%s\"", so->GetURL().Data());
104	Printf("Number: \"%d\"", so->GetReportNumber());
105	Printf("Version: \"%d\"", so->GetReportVersion());
106	Printf("Observations: \"%s\"", so->GetObservations().Data());
107	Printf("Coordinate System: \"%s\"", so->GetCoordSys().Data());
108	Printf("Measurement Units: \"%s\"", so->GetUnits().Data());
109	Printf("Nr Columns: \"%d\" \n", so->GetNrColumns());
110
111	TObjArray *colNames = so->GetColumnNames();
112	TObjArray *points = so->GetData();
113
114	Printf("Relevant points to be used for alignment procedure (in mm):");
115	printf("%d \n",points->GetEntries());
116
117	Float_t surveyFidX[28];
118	Float_t surveyFidY[28];
119	Float_t surveyFidZ[28];
120
121	for (Int_t i = 0; i < points->GetEntries(); ++i)
122	{
123
124	surveyFidX[i] = (((AliSurveyPoint *) points->At(i))->GetX());
125	surveyFidY[i] = (((AliSurveyPoint *) points->At(i))->GetY());
126	surveyFidZ[i] = (((AliSurveyPoint *) points->At(i))->GetZ());
127	}
128
129	for (Int_t i=0; i < 28; i++)
130	{
131	// printf("%f %f %f\n",surveyFidX[i],surveyFidY[i],surveyFidZ[i]);
132
133	}
134
135	const Int_t kNDIM1 = 3;
136	const Int_t kNDIM2 = 4;
137	const Double_t kIdealOrig[kNDIM1] = {0., 0., 3645.}; // Geant values
138
139	Int_t i;
140
141	Double_t s1;
142	Double_t ab1[kNDIM1], bc1[kNDIM1], nn1[kNDIM1], plane1[kNDIM1];
143	Double_t nga1[kNDIM2][kNDIM1];
144
145	Double_t s2;
146	Double_t ab2[kNDIM1], bc2[kNDIM1], nn2[kNDIM1], plane2[kNDIM1];
147	Double_t nga2[kNDIM2][kNDIM1];
148
149	Double_t s3;
150	Double_t ab3[kNDIM1], bc3[kNDIM1], nn3[kNDIM1], plane3[kNDIM1];
151	Double_t nga3[kNDIM2][kNDIM1];
152
153	Double_t s4;
154	Double_t ab4[kNDIM1], bc4[kNDIM1], nn4[kNDIM1], plane4[kNDIM1];
155	Double_t nga4[kNDIM2][kNDIM1];
156
157	// These are the sequence of fiducial marks for sector-1,2,3 & 4 - to be
158	// given by the user.
159
160	Int_t surseq1[kNDIM2] = {19, 20, 18, 17};
161	Int_t surseq2[kNDIM2] = {15, 16, 14, 13};
162	Int_t surseq3[kNDIM2] = {11, 12, 06, 05};
163	Int_t surseq4[kNDIM2] = {27, 28, 22, 21};
164
165	for (i = 0; i < 28; i++)
166	{
167	for (Int_t j = 0; j < 4; j++)
168	{
169	if (surseq1[j] == i+1)
170	{
171	nga1[j][0] = surveyFidX[i];
172	nga1[j][1] = surveyFidY[i];
173	nga1[j][2] = surveyFidZ[i];
174	}
175	else if (surseq2[j] == i+1)
176	{
177	nga2[j][0] = surveyFidX[i];
178	nga2[j][1] = surveyFidY[i];
179	nga2[j][2] = surveyFidZ[i];
180	}
181	else if (surseq3[j] == i+1)
182	{
183	nga3[j][0] = surveyFidX[i];
184	nga3[j][1] = surveyFidY[i];
185	nga3[j][2] = surveyFidZ[i];
186	}
187	else if (surseq4[j] == i+1)
188	{
189	nga4[j][0] = surveyFidX[i];
190	nga4[j][1] = surveyFidY[i];
191	nga4[j][2] = surveyFidZ[i];
192	}
193	}
194
195	}
196
197	// First vector on the plane of the fiducial marks.
198
199	for(i = 0; i < kNDIM1; i++)
200	{
201	ab1[i] = nga1[1][i] - nga1[0][i];
202	ab2[i] = nga2[1][i] - nga2[0][i];
203	ab3[i] = nga3[1][i] - nga3[0][i];
204	ab4[i] = nga4[1][i] - nga4[0][i];
205	}
206
207	// Second vector on the plane of the fiducial marks.
208
209	for(i = 0; i < kNDIM1; i++)
210	{
211	bc1[i] = nga1[2][i] - nga1[1][i];
212	bc2[i] = nga2[2][i] - nga2[1][i];
213	bc3[i] = nga3[2][i] - nga3[1][i];
214	bc4[i] = nga4[2][i] - nga4[1][i];
215	}
216
217	// Vector normal to the plane of the fiducial marks obtained
218	// as cross product of the two vectors on the sector-1,2,3 and 4.
219
220	// Vector normal to the sector-1.
221
222	nn1[0] = ab1[1] * bc1[2] - ab1[2] * bc1[1];
223	nn1[1] = ab1[2] * bc1[0] - ab1[0] * bc1[2];
224	nn1[2] = ab1[0] * bc1[1] - ab1[1] * bc1[0];
225
226	// Vector normal to the sector-2.
227
228	nn2[0] = ab2[1] * bc2[2] - ab2[2] * bc2[1];
229	nn2[1] = ab2[2] * bc2[0] - ab2[0] * bc2[2];
230	nn2[2] = ab2[0] * bc2[1] - ab2[1] * bc2[0];
231
232	// Vector normal to the sector-3.
233
234	nn3[0] = ab3[1] * bc3[2] - ab3[2] * bc3[1];
235	nn3[1] = ab3[2] * bc3[0] - ab3[0] * bc3[2];
236	nn3[2] = ab3[0] * bc3[1] - ab3[1] * bc3[0];
237
238	// Vector normal to the sector-4.
239
240	nn4[0] = ab4[1] * bc4[2] - ab4[2] * bc4[1];
241	nn4[1] = ab4[2] * bc4[0] - ab4[0] * bc4[2];
242	nn4[2] = ab4[0] * bc4[1] - ab4[1] * bc4[0];
243
244	Double_t sizen1 = TMath::Sqrt( nn1[0]nn1[0] + nn1[1]nn1[1] +
245	nn1[2]*nn1[2] );
246	Double_t sizen2 = TMath::Sqrt( nn2[0]nn2[0] + nn2[1]nn2[1] +
247	nn2[2]*nn2[2] );
248	Double_t sizen3 = TMath::Sqrt( nn3[0]nn3[0] + nn3[1]nn3[1] +
249	nn3[2]*nn3[2] );
250	Double_t sizen4 = TMath::Sqrt( nn4[0]nn4[0] + nn4[1]nn4[1] +
251	nn4[2]*nn4[2] );
252
253	if(sizen1 > 1.e-8)
254	{
255	s1 = Double_t(1.)/sizen1 ; //normalization factor
256	}
257	else
258	{
259	return 0;
260	}
261
262	if(sizen2 > 1.e-8)
263	{
264	s2 = Double_t(1.)/sizen2 ; //normalization factor
265	}
266	else
267	{
268	return 0;
269	}
270
271	if(sizen3 > 1.e-8)
272	{
273	s3 = Double_t(1.)/sizen3 ; //normalization factor
274	}
275	else
276	{
277	return 0;
278	}
279
280	if(sizen4 > 1.e-8)
281	{
282	s4 = Double_t(1.)/sizen4 ; //normalization factor
283	}
284	else
285	{
286	return 0;
287	}
288
289	// Plane expressed in the hessian normal form, see:
290	// http://mathworld.wolfram.com/HessianNormalForm.html
291
292	for(i = 0; i < kNDIM1; i++)
293	{
294	plane1[i] = nn1[i] * s1;
295	plane2[i] = nn2[i] * s2;
296	plane3[i] = nn3[i] * s3;
297	plane4[i] = nn4[i] * s4;
298	}
299
300	cout<<"Unit vector normal to sector-1 : "<<plane1[0]
301	<<" "<<plane1[1]<<" "<<plane1[2]<<endl;
302	cout<<"Unit vector normal to sector-2 : "<<plane2[0]
303	<<" "<<plane2[1]<<" "<<plane2[2]<<endl;
304	cout<<"Unit vector normal to sector-3 : "<<plane3[0]
305	<<" "<<plane3[1]<<" "<<plane3[2]<<endl;
306	cout<<"Unit vector normal to sector-4 : "<<plane4[0]
307	<<" "<<plane4[1]<<" "<<plane4[2]<<endl;
308
309	// The center of the sector with fiducial marks as corners,
310	// is the middle point of one diagonal.
311
312	Double_t orig1[kNDIM1], md1[kNDIM1];
313	Double_t orig2[kNDIM1], md2[kNDIM1];
314	Double_t orig3[kNDIM1], md3[kNDIM1];
315	Double_t orig4[kNDIM1], md4[kNDIM1];
316
317	for(i = 0; i < kNDIM1; i++)
318	{
319	md1[i] = (nga1[0][i] + nga1[1][i]) * 0.5;
320	md2[i] = (nga2[2][i] + nga2[3][i]) * 0.5;
321	md3[i] = (nga3[0][i] + nga3[2][i]) * 0.5;
322	md4[i] = (nga4[0][i] + nga4[2][i]) * 0.5;
323	}
324
325	const Double_t kZdepth = 23.;//(Zdepth+zoffset) is the distance
326	//from surface to centre of the PMD.
327
328	for(i = 0; i < kNDIM1; i++)
329	{
330	orig1[i] = md1[i] - plane1[i]*kZdepth;
331	orig2[i] = md2[i] - plane2[i]*kZdepth;
332	orig3[i] = md3[i] - plane3[i]*kZdepth;
333	orig4[i] = md4[i] - plane4[i]*kZdepth;
334	}
335
336	Double_t PMDorig1[kNDIM1];
337	Double_t PMDorig2[kNDIM1];
338	for(i = 0; i < kNDIM1; i++)
339	{
340	PMDorig1[i] = (orig1[i] + orig2[i]) * 0.5;
341	PMDorig2[i] = (orig3[i] + orig4[i]) * 0.5;
342	}
343
344	// Get x,y local directions needed to write the global rotation matrix
345	// for the surveyed volume by normalising vectors ab1 and bc1
346
347	Double_t sx1 = TMath::Sqrt(ab1[0]ab1[0] + ab1[1]ab1[1] +
348	ab1[2]*ab1[2]);
349	if(sx1 > 1.e-8)
350	{
351	for(i = 0; i < 3; i++)
352	{
353	ab1[i] /= sx1;
354	}
355	}
356
357	Double_t sy1 = TMath::Sqrt(bc1[0]bc1[0] + bc1[1]bc1[1] +
358	bc1[2]*bc1[2]);
359	if(sy1 > 1.e-8)
360	{
361	for(i = 0; i < kNDIM1; i++)
362	{
363	bc1[i] /= sy1;
364	}
365	}
366
367	Double_t sx2 = TMath::Sqrt(ab2[0]ab2[0] + ab2[1]ab2[1] +
368	ab2[2]*ab2[2]);
369	if(sx2 > 1.e-8)
370	{
371	for(i = 0; i < kNDIM1; i++)
372	{
373	ab2[i] /= sx2;
374	}
375	}
376
377	Double_t sy2 = TMath::Sqrt(bc2[0]bc2[0] + bc2[1]bc2[1] +
378	bc2[2]*bc2[2]);
379	if(sy2 > 1.e-8)
380	{
381	for(i = 0; i < kNDIM1; i++)
382	{
383	bc2[i] /= sy2;
384	}
385	}
386
387	Double_t sx3 = TMath::Sqrt(ab3[0]ab3[0] + ab3[1]ab3[1] +
388	ab3[2]*ab3[2]);
389	if(sx3 > 1.e-8)
390	{
391	for(i = 0; i < kNDIM1; i++)
392	{
393	ab3[i] /= sx3;
394	}
395	}
396
397	Double_t sy3 = TMath::Sqrt(bc3[0]bc3[0] + bc3[1]bc3[1] +
398	bc3[2]*bc3[2]);
399	if(sy3 > 1.e-8)
400	{
401	for(i = 0; i < kNDIM1; i++)
402	{
403	bc3[i] /= sy3;
404	}
405	}
406
407	Double_t sx4 = TMath::Sqrt(ab4[0]ab4[0] + ab4[1]ab4[1] +
408	ab4[2]*ab4[2]);
409	if(sx4 > 1.e-8)
410	{
411	for(i = 0; i < kNDIM1; i++)
412	{
413	ab4[i] /= sx4;
414	}
415	}
416
417	Double_t sy4 = TMath::Sqrt(bc4[0]bc4[0] + bc4[1]bc4[1] +
418	bc4[2]*bc4[2]);
419	if(sy4 > 1.e-8)
420	{
421	for(i = 0; i < kNDIM1; i++)
422	{
423	bc4[i] /= sy4;
424	}
425	}
426
427	// The global matrix for the surveyed volume - ng_1
428
429	Double_t rot1[9] = { ab1[0], bc1[0], plane1[0],
430	ab1[1], bc1[1], plane1[1],
431	ab1[2], bc1[2], plane1[2]};
432
433	TGeoHMatrix ng_1;
434	for(Int_t i=0; i<3; i++) orig1[i]*=0.1;// To convert the surveyed origin
435	//in cm, as in geometry all the distances are in cm.
436
437	orig1[0]=orig1[0]- 0.321402;//offset in X.
438	orig1[1]=orig1[1]- 0.074998;//offset in Y.
439	ng_1.SetTranslation(orig1);
440	ng_1.SetRotation(rot1);
441
442	// cout<<"\n Global Matrix from surveyed fiducial marks for sector-1 \n";
443	//ng_1.Print();
444
445	Double_t rot2[9] = {ab2[0], bc2[0], plane2[0],
446	ab2[1], bc2[1], plane2[1],
447	ab2[2], bc2[2], plane2[2]};
448
449	TGeoHMatrix ng_2;
450	for(Int_t i=0; i<3; i++) orig2[i]*=0.1;
451	orig2[0]=orig2[0]+ 0.321402;//offset in X.
452	orig2[1]=orig2[1]+ 0.074998;//offset in Y.
453	ng_2.SetTranslation(orig2);
454	ng_2.SetRotation(rot2);
455
456	// cout<<"\n Global Matrix from surveyed fiducial marks for sector-2 \n";
457	// ng_2.Print();
458
459	Double_t rot3[9] = {ab3[0], bc3[0], plane3[0],
460	ab3[1], bc3[1], plane3[1],
461	ab3[2], bc3[2], plane3[2]};
462
463	TGeoHMatrix ng_3;
464	for(Int_t i=0; i<3; i++) orig3[i]*=0.1;
465	orig3[0]=orig3[0]+ 0.291602;//offset in X
466	orig3[1]=orig3[1]+ 0.100001;//offset in Y
467	ng_3.SetTranslation(orig3);
468	ng_3.SetRotation(rot3);
469
470	// cout<<"\n Global Matrix from surveyed fiducial marks for sector-3 \n";
471	//ng_3.Print();
472
473
474	Double_t rot4[9] = {ab4[0], bc4[0], plane4[0],
475	ab4[1], bc4[1], plane4[1],
476	ab4[2], bc4[2], plane4[2]};
477
478	TGeoHMatrix ng_4;
479	for(Int_t i=0; i<3; i++) orig4[i]*=0.1;
480	orig4[0]=orig4[0]- 0.291602;//offset in X
481	orig4[1]=orig4[1]- 0.100001;//offset in Y
482	ng_4.SetTranslation(orig4);
483	ng_4.SetRotation(rot4);
484
485	//cout<<"\n Global Matrix from surveyed fiducial marks for sector-4 \n";
486	//ng_4.Print();
487
488
489	// To produce the alignment object for the given volume you would
490	// then do something like this:
491	// Calculate the global delta transformation as ng * g3^-1
492
493	TGeoPhysicalNode* pn3_1 = gGeoManager->MakePhysicalNode("ALIC_1/EPM1_1");
494	TGeoHMatrix gdelta_1 = g3_1->Inverse(); //now equal to the inverse of g3
495	gdelta_1.MultiplyLeft(&ng_1);
496	Int_t index = 0;
497	Printf("The global delta transformation for sector-1");
498	gdelta_1.Print();
499
500	TGeoPhysicalNode* pn3_2 = gGeoManager->MakePhysicalNode("ALIC_1/EPM2_1");
501	TGeoHMatrix gdelta_2 = g3_2->Inverse();
502	gdelta_2.MultiplyLeft(&ng_2);
503	Int_t index = 0;
504	Printf("The global delta transformation for sector-2");
505	gdelta_2.Print();
506
507	TGeoPhysicalNode* pn3_3 = gGeoManager->MakePhysicalNode("ALIC_1/EPM3_1");
508	TGeoHMatrix gdelta_3 = g3_3->Inverse();
509	gdelta_3.MultiplyLeft(&ng_3);
510	Int_t index = 0;
511	Printf("The global delta transformation for sector-3");
512	gdelta_3.Print();
513
514	TGeoPhysicalNode* pn3_4 = gGeoManager->MakePhysicalNode("ALIC_1/EPM4_1");
515	TGeoHMatrix gdelta_4 = g3_4->Inverse();
516	gdelta_4.MultiplyLeft(&ng_4);
517	Int_t index = 0;
518	Printf("The global delta transformation for sector-4");
519	gdelta_4.Print();
520
521	new(mobj[0]) AliAlignObjMatrix("PMD/Sector1",index,gdelta_1,kTRUE);
522	new(mobj[1]) AliAlignObjMatrix("PMD/Sector2",index,gdelta_2,kTRUE);
523	new(mobj[2]) AliAlignObjMatrix("PMD/Sector3",index,gdelta_3,kTRUE);
524	new(mobj[3]) AliAlignObjMatrix("PMD/Sector4",index,gdelta_4,kTRUE);
525
526
527	TString strStorage(gSystem->Getenv("TOCDB"));
528	if(strStorage != TString("kTRUE")){
529	// save on file
530	TFile f("PMDSurvey.root","RECREATE");
531	if(!f) cerr<<"cannot open file for output\n";
532	f.cd();
533	f.WriteObject(array,"PMDSurveyObjs ","kSingleKey");
534	f.Close();
535	}else{
536	// save in CDB storage
537	AliCDBManager* cdb = AliCDBManager::Instance();
162637e4	538	AliCDBStorage* storage = cdb->GetStorage("local://$ALICE_ROOT/OCDB");
c991220d	539	AliCDBMetaData* mda = new AliCDBMetaData();
	540	mda->SetResponsible(" ");
	541	mda->SetComment("Alignment objects for PMD survey");
	542	AliCDBId id("PMD/Align/Data",0,AliCDBRunRange::Infinity());
	543	storage->Put(array,id,mda);
	544	}
	545
	546	array->Delete();
	547	}