3 // Author: Anders Vestbo <mailto:vestbo@fi.uib.no>
4 //*-- Copyright © ALICE HLT Group
6 #include "AliL3StandardIncludes.h"
9 #include "AliL3Logging.h"
10 #include "AliL3HoughMerger.h"
11 #include "AliL3HoughIntMerger.h"
12 #include "AliL3HoughGlobalMerger.h"
13 #include "AliL3Histogram.h"
14 #include "AliL3Hough.h"
15 #include "AliL3HoughTransformer.h"
16 #include "AliL3HoughClusterTransformer.h"
17 #include "AliL3HoughTransformerLUT.h"
18 #include "AliL3HoughTransformerVhdl.h"
19 #include "AliL3HoughTransformerGap.h"
20 #include "AliL3HoughMaxFinder.h"
21 #include "AliL3Benchmark.h"
23 #include "AliL3FileHandler.h"
25 #include "AliL3MemHandler.h"
27 #include "AliL3DataHandler.h"
28 #include "AliL3DigitData.h"
29 #include "AliL3HoughEval.h"
30 #include "AliL3Transform.h"
31 #include "AliL3TrackArray.h"
32 #include "AliL3HoughTrack.h"
33 #include "AliL3DDLDataFileHandler.h"
41 //_____________________________________________________________
44 // Interface class for the Hough transform
46 // Example how to use:
48 // AliL3Hough *hough = new AliL3Hough(path,kTRUE,NumberOfEtaSegments);
49 // hough->ReadData(slice);
50 // hough->Transform();
51 // hough->FindTrackCandidates();
53 // AliL3TrackArray *tracks = hough->GetTracks(patch);
59 AliL3Hough::AliL3Hough()
64 fAddHistograms = kFALSE;
65 fDoIterative = kFALSE;
66 fWriteDigits = kFALSE;
70 fHoughTransformer = 0;
89 SetTransformerParams();
94 //just be sure that index is empty for new event
95 AliL3FileHandler::CleanStaticIndex();
99 AliL3Hough::AliL3Hough(Char_t *path,Bool_t binary,Int_t n_eta_segments,Bool_t bit8,Int_t tv,Char_t *infile)
103 fNEtaSegments = n_eta_segments;
104 fAddHistograms = kFALSE;
105 fDoIterative = kFALSE;
106 fWriteDigits = kFALSE;
117 //just be sure that index is empty for new event
118 AliL3FileHandler::CleanStaticIndex();
122 AliL3Hough::~AliL3Hough()
129 //cout << "Cleaned class merger " << endl;
132 //cout << "Cleaned class inter " << endl;
135 //cout << "Cleaned class peak " << endl;
137 delete fGlobalMerger;
138 //cout << "Cleaned class global " << endl;
141 //cout << "Cleaned class bench " << endl;
143 delete fGlobalTracks;
144 //cout << "Cleaned class globaltracks " << endl;
147 void AliL3Hough::CleanUp()
151 for(Int_t i=0; i<fNPatches; i++)
153 if(fTracks[i]) delete fTracks[i];
154 //cout << "Cleaned tracks " << i << endl;
155 if(fEval[i]) delete fEval[i];
156 //cout << "Cleaned eval " << i << endl;
157 if(fHoughTransformer[i]) delete fHoughTransformer[i];
158 //cout << "Cleaned traf " << i << endl;
159 if(fMemHandler[i]) delete fMemHandler[i];
160 //cout << "Cleaned mem " << i << endl;
163 if(fTracks) delete [] fTracks;
164 //cout << "Cleaned class tracks " << endl;
165 if(fEval) delete [] fEval;
166 //cout << "Cleaned class eval " << endl;
167 if(fHoughTransformer) delete [] fHoughTransformer;
168 //cout << "Cleaned cleass trafo " << endl;
169 if(fMemHandler) delete [] fMemHandler;
170 //cout << "Cleaned class mem " << endl;
173 void AliL3Hough::Init(Char_t *path,Bool_t binary,Int_t n_eta_segments,Bool_t bit8,Int_t tv,Char_t *infile)
177 fNEtaSegments = n_eta_segments;
178 fWriteDigits = kFALSE;
186 Init(); //do the rest
189 void AliL3Hough::Init(Bool_t doit, Bool_t addhists)
192 fAddHistograms = addhists;
194 fNPatches = AliL3Transform::GetNPatches();
196 fHoughTransformer = new AliL3HoughBaseTransformer*[fNPatches];
197 fMemHandler = new AliL3MemHandler*[fNPatches];
199 fTracks = new AliL3TrackArray*[fNPatches];
200 fEval = new AliL3HoughEval*[fNPatches];
202 fGlobalTracks = new AliL3TrackArray("AliL3HoughTrack");
204 for(Int_t i=0; i<fNPatches; i++)
206 switch (fVersion){ //choose Transformer
208 fHoughTransformer[i] = new AliL3HoughTransformerLUT(0,i,fNEtaSegments);
211 fHoughTransformer[i] = new AliL3HoughClusterTransformer(0,i,fNEtaSegments);
214 fHoughTransformer[i] = new AliL3HoughTransformerVhdl(0,i,fNEtaSegments,fNSaveIterations);
217 fHoughTransformer[i] = new AliL3HoughTransformerGap(0,i,fNEtaSegments);
220 fHoughTransformer[i] = new AliL3HoughTransformer(0,i,fNEtaSegments,kFALSE,kFALSE);
223 fHoughTransformer[i]->CreateHistograms(fNBinX[i],fLowPt[i],fNBinY[i],-fPhi[i],fPhi[i]);
224 //fHoughTransformer[i]->CreateHistograms(fLowPt[i],fUpperPt[i],fPtRes[i],fNBinY[i],fPhi[i]);
226 fHoughTransformer[i]->SetLowerThreshold(fThreshold[i]);
227 fHoughTransformer[i]->SetUpperThreshold(100);
229 LOG(AliL3Log::kInformational,"AliL3Hough::Init","Version")
230 <<"Initializing Hough transformer version "<<fVersion<<ENDLOG;
232 fEval[i] = new AliL3HoughEval();
233 fTracks[i] = new AliL3TrackArray("AliL3HoughTrack");
235 fMemHandler[i] = new AliL3DataHandler();
240 /* In case of reading digits file */
241 fMemHandler[i] = new AliL3FileHandler(kTRUE); //use static index
243 Char_t filename[1024];
244 sprintf(filename,"%s/digitfile.root",fPath);
245 fMemHandler[i]->SetAliInput(filename);
249 /* In case of reading rawdata from ROOT file */
250 fMemHandler[i] = new AliL3DDLDataFileHandler();
251 fMemHandler[i]->SetReaderInput(fInputFile);
255 fMemHandler[i] = new AliL3MemHandler();
259 fPeakFinder = new AliL3HoughMaxFinder("KappaPhi",1000);
260 fMerger = new AliL3HoughMerger(fNPatches);
261 fInterMerger = new AliL3HoughIntMerger();
263 fBenchmark = new AliL3Benchmark();
266 void AliL3Hough::SetTransformerParams(Float_t ptres,Float_t ptmin,Float_t ptmax,Int_t ny,Int_t patch)
274 mrow = AliL3Transform::GetLastRow(patch);
277 Double_t lineradius = sqrt(pow(AliL3Transform::Row2X(mrow),2) + pow(AliL3Transform::GetMaxY(mrow),2));
278 Double_t kappa = -1*AliL3Transform::GetBField()*AliL3Transform::GetBFact()/ptmin;
279 psi = AliL3Transform::Deg2Rad(10) - asin(lineradius*kappa/2);
280 cout<<"Calculated psi range "<<psi<<" in patch "<<patch<<endl;
299 fPtRes[patch] = ptres;
300 fLowPt[patch] = ptmin;
301 fUpperPt[patch] = ptmax;
306 void AliL3Hough::SetTransformerParams(Int_t nx,Int_t ny,Float_t ptmin,Int_t patch)
310 Double_t lineradius = sqrt(pow(AliL3Transform::Row2X(mrow),2) + pow(AliL3Transform::GetMaxY(mrow),2));
311 Double_t kappa = -1*AliL3Transform::GetBField()*AliL3Transform::GetBFact()/ptmin;
312 Double_t psi = AliL3Transform::Deg2Rad(10) - asin(lineradius*kappa/2);
313 cout<<"Calculated psi range "<<psi<<" in patch "<<patch<<endl;
326 void AliL3Hough::SetTransformerParams(Int_t nx,Int_t ny,Float_t lpt,Float_t phi)
339 void AliL3Hough::SetThreshold(Int_t t3,Int_t patch)
348 fThreshold[patch]=t3;
351 void AliL3Hough::SetPeakThreshold(Int_t threshold,Int_t patch)
357 fPeakThreshold[i++]=threshold;
360 fPeakThreshold[patch]=threshold;
363 void AliL3Hough::DoBench(Char_t *name)
365 fBenchmark->Analyze(name);
368 void AliL3Hough::Process(Int_t minslice,Int_t maxslice)
370 //Process all slices [minslice,maxslice].
371 fGlobalMerger = new AliL3HoughGlobalMerger(minslice,maxslice);
373 for(Int_t i=minslice; i<=maxslice; i++)
379 FindTrackCandidates();
381 //fGlobalMerger->FillTracks(fTracks[0],i);
385 void AliL3Hough::ReadData(Int_t slice,Int_t eventnr)
387 //Read data from files, binary or root.
390 if(fEvent!=eventnr) //just be sure that index is empty for new event
391 AliL3FileHandler::CleanStaticIndex();
393 fCurrentSlice = slice;
395 for(Int_t i=0; i<fNPatches; i++)
397 fMemHandler[i]->Free();
399 AliL3DigitRowData *digits =0;
401 fMemHandler[i]->Init(slice,i);
402 if(fBinary)//take input data from binary files
405 sprintf(name,"%s/binaries/digits_c8_%d_%d_%d.raw",fPath,eventnr,slice,i);
407 sprintf(name,"%s/binaries/digits_%d_%d_%d.raw",fPath,eventnr,slice,i);
409 fMemHandler[i]->SetBinaryInput(name);
410 digits = (AliL3DigitRowData *)fMemHandler[i]->CompBinary2Memory(ndigits);
411 fMemHandler[i]->CloseBinaryInput();
413 else //read data from root file
417 fMemHandler[i]->FreeDigitsTree();//or else the new event is not loaded
418 digits=(AliL3DigitRowData *)fMemHandler[i]->AliAltroDigits2Memory(ndigits,eventnr);
420 cerr<<"You cannot read from rootfile now"<<endl;
424 //set input data and init transformer
425 fHoughTransformer[i]->SetInputData(ndigits,digits);
426 fHoughTransformer[i]->Init(slice,i,fNEtaSegments);
432 void AliL3Hough::Transform(Int_t *row_range)
434 //Transform all data given to the transformer within the given slice
435 //(after ReadData(slice))
437 Double_t initTime,cpuTime;
438 initTime = GetCpuTime();
439 for(Int_t i=0; i<fNPatches; i++)
441 fHoughTransformer[i]->Reset();//Reset the histograms
442 fBenchmark->Start("Hough Transform");
444 fHoughTransformer[i]->TransformCircle();
446 fHoughTransformer[i]->TransformCircleC(row_range,1);
447 fBenchmark->Stop("Hough Transform");
449 cpuTime = GetCpuTime() - initTime;
450 LOG(AliL3Log::kInformational,"AliL3Hough::Transform()","Timing")
451 <<"Transform done in average per patch of "<<cpuTime*1000/fNPatches<<" ms"<<ENDLOG;
454 void AliL3Hough::MergePatches()
456 if(fAddHistograms) //Nothing to merge here
458 fMerger->MergePatches(kTRUE);
461 void AliL3Hough::MergeInternally()
464 fInterMerger->FillTracks(fTracks[0]);
466 fInterMerger->FillTracks(fMerger->GetOutTracks());
468 fInterMerger->MMerge();
471 void AliL3Hough::ProcessSliceIter()
473 //Process current slice (after ReadData(slice)) iteratively.
477 for(Int_t i=0; i<fNPatches; i++)
480 fMerger->FillTracks(fTracks[i],i); //Copy tracks to merger
485 for(Int_t i=0; i<10; i++)
490 AliL3HoughBaseTransformer *tr = fHoughTransformer[0];
491 for(Int_t j=0; j<fNEtaSegments; j++)
493 AliL3Histogram *hist = tr->GetHistogram(j);
494 if(hist->GetNEntries()==0) continue;
495 fPeakFinder->Reset();
496 fPeakFinder->SetHistogram(hist);
497 fPeakFinder->FindAbsMaxima();
498 AliL3HoughTrack *track = (AliL3HoughTrack*)fTracks[0]->NextTrack();
499 track->SetTrackParameters(fPeakFinder->GetXPeak(0),fPeakFinder->GetYPeak(0),fPeakFinder->GetWeight(0));
500 track->SetEtaIndex(j);
501 track->SetEta(tr->GetEta(j,fCurrentSlice));
502 for(Int_t k=0; k<fNPatches; k++)
504 fEval[i]->SetNumOfPadsToLook(2);
505 fEval[i]->SetNumOfRowsToMiss(2);
506 fEval[i]->RemoveFoundTracks();
509 if(!fEval[i]->LookInsideRoad(track,nrows))
511 fTracks[0]->Remove(fTracks[0]->GetNTracks()-1);
512 fTracks[0]->Compress();
523 void AliL3Hough::ProcessPatchIter(Int_t patch)
525 //Process patch in a iterative way.
526 //transform + peakfinding + evaluation + transform +...
528 Int_t num_of_tries = 5;
529 AliL3HoughBaseTransformer *tr = fHoughTransformer[patch];
530 AliL3TrackArray *tracks = fTracks[patch];
532 AliL3HoughEval *ev = fEval[patch];
533 ev->InitTransformer(tr);
534 //ev->RemoveFoundTracks();
535 ev->SetNumOfRowsToMiss(3);
536 ev->SetNumOfPadsToLook(2);
537 AliL3Histogram *hist;
538 for(Int_t t=0; t<num_of_tries; t++)
541 tr->TransformCircle();
542 for(Int_t i=0; i<fNEtaSegments; i++)
544 hist = tr->GetHistogram(i);
545 if(hist->GetNEntries()==0) continue;
546 fPeakFinder->Reset();
547 fPeakFinder->SetHistogram(hist);
548 fPeakFinder->FindAbsMaxima();
549 //fPeakFinder->FindPeak1();
550 AliL3HoughTrack *track = (AliL3HoughTrack*)tracks->NextTrack();
551 track->SetTrackParameters(fPeakFinder->GetXPeak(0),fPeakFinder->GetYPeak(0),fPeakFinder->GetWeight(0));
552 track->SetEtaIndex(i);
553 track->SetEta(tr->GetEta(i,fCurrentSlice));
556 if(!ev->LookInsideRoad(track,nrows))
558 tracks->Remove(tracks->GetNTracks()-1);
565 LOG(AliL3Log::kInformational,"AliL3Hough::ProcessPatch","NTracks")
566 <<AliL3Log::kDec<<"Found "<<tracks->GetNTracks()<<" tracks in patch "<<patch<<ENDLOG;
569 void AliL3Hough::AddAllHistograms()
571 //Add the histograms within one etaslice.
572 //Resulting histogram are in patch=0.
574 Double_t initTime,cpuTime;
575 initTime = GetCpuTime();
576 fBenchmark->Start("Add Histograms");
577 for(Int_t i=0; i<fNEtaSegments; i++)
579 AliL3Histogram *hist0 = fHoughTransformer[0]->GetHistogram(i);
580 for(Int_t j=1; j<fNPatches; j++)
582 AliL3Histogram *hist = fHoughTransformer[j]->GetHistogram(i);
586 fBenchmark->Stop("Add Histograms");
587 fAddHistograms = kTRUE;
588 cpuTime = GetCpuTime() - initTime;
589 LOG(AliL3Log::kInformational,"AliL3Hough::AddAllHistograms()","Timing")
590 <<"Adding histograms in "<<cpuTime*1000<<" ms"<<ENDLOG;
593 void AliL3Hough::AddTracks()
597 cerr<<"AliL3Hough::AddTracks : No tracks"<<endl;
600 AliL3TrackArray *tracks = fTracks[0];
601 for(Int_t i=0; i<tracks->GetNTracks(); i++)
603 AliL3Track *track = tracks->GetCheckedTrack(i);
605 if(track->GetNHits()!=1) cerr<<"NHITS "<<track->GetNHits()<<endl;
606 UInt_t *ids = track->GetHitNumbers();
607 ids[0] = (fCurrentSlice&0x7f)<<25;
610 fGlobalTracks->AddTracks(fTracks[0],0,fCurrentSlice);
613 void AliL3Hough::FindTrackCandidates()
615 //Look for peaks in histograms, and find the track candidates
619 n_patches = 1; //Histograms have been added.
621 n_patches = fNPatches;
623 Double_t initTime,cpuTime;
624 initTime = GetCpuTime();
625 fBenchmark->Start("Find Maxima");
626 for(Int_t i=0; i<n_patches; i++)
628 AliL3HoughBaseTransformer *tr = fHoughTransformer[i];
631 for(Int_t j=0; j<fNEtaSegments; j++)
633 AliL3Histogram *hist = tr->GetHistogram(j);
634 if(hist->GetNEntries()==0) continue;
635 fPeakFinder->Reset();
636 fPeakFinder->SetHistogram(hist);
638 fPeakFinder->SetThreshold(fPeakThreshold[i]);
639 fPeakFinder->FindAdaptedPeaks(fKappaSpread,fPeakRatio);
641 //fPeakFinder->FindMaxima(fPeakThreshold[i]); //Simple maxima finder
643 for(Int_t k=0; k<fPeakFinder->GetEntries(); k++)
645 AliL3HoughTrack *track = (AliL3HoughTrack*)fTracks[i]->NextTrack();
646 track->SetTrackParameters(fPeakFinder->GetXPeak(k),fPeakFinder->GetYPeak(k),fPeakFinder->GetWeight(k));
647 track->SetEtaIndex(j);
648 track->SetEta(tr->GetEta(j,fCurrentSlice));
649 track->SetRowRange(AliL3Transform::GetFirstRow(0),AliL3Transform::GetLastRow(5));
652 cout<<"Found "<<fTracks[i]->GetNTracks()<<" tracks in patch "<<i<<endl;
655 fBenchmark->Stop("Find Maxima");
656 cpuTime = GetCpuTime() - initTime;
657 LOG(AliL3Log::kInformational,"AliL3Hough::FindTrackCandidates()","Timing")
658 <<"Maxima finding done in "<<cpuTime*1000<<" ms"<<ENDLOG;
661 void AliL3Hough::InitEvaluate()
663 //Pass the transformer objects to the AliL3HoughEval objects:
664 //This will provide the evaluation objects with all the necessary
665 //data and parameters it needs.
667 for(Int_t i=0; i<fNPatches; i++)
668 fEval[i]->InitTransformer(fHoughTransformer[i]);
671 Int_t AliL3Hough::Evaluate(Int_t road_width,Int_t nrowstomiss)
673 //Evaluate the tracks, by looking along the road in the raw data.
674 //If track does not cross all padrows - rows2miss, it is removed from the arrray.
675 //If histograms were not added, the check is done locally in patch,
676 //meaning that nrowstomiss is the number of padrows the road can miss with respect
677 //to the number of rows in the patch.
678 //If the histograms were added, the comparison is done globally in the _slice_,
679 //meaing that nrowstomiss is the number of padrows the road can miss with
680 //respect to the total number of padrows in the slice.
682 //Return value = number of tracks which were removed (only in case of fAddHistograms)
686 LOG(AliL3Log::kError,"AliL3Hough::Evaluate","Track Array")
687 <<"No tracks to work with..."<<ENDLOG;
691 Int_t removed_tracks=0;
692 AliL3TrackArray *tracks=0;
697 for(Int_t i=0; i<tracks->GetNTracks(); i++)
699 AliL3Track *track = tracks->GetCheckedTrack(i);
705 for(Int_t i=0; i<fNPatches; i++)
706 EvaluatePatch(i,road_width,nrowstomiss);
708 //Here we check the tracks globally;
709 //how many good rows (padrows with signal)
710 //did it cross in the slice
713 for(Int_t j=0; j<tracks->GetNTracks(); j++)
715 AliL3HoughTrack *track = (AliL3HoughTrack*)tracks->GetCheckedTrack(j);
717 if(track->GetNHits() < AliL3Transform::GetNRows() - nrowstomiss)
727 return removed_tracks;
730 void AliL3Hough::EvaluatePatch(Int_t i,Int_t road_width,Int_t nrowstomiss)
734 fEval[i]->InitTransformer(fHoughTransformer[i]);
735 fEval[i]->SetNumOfPadsToLook(road_width);
736 fEval[i]->SetNumOfRowsToMiss(nrowstomiss);
737 //fEval[i]->RemoveFoundTracks();
739 AliL3TrackArray *tracks=0;
747 for(Int_t j=0; j<tracks->GetNTracks(); j++)
749 AliL3HoughTrack *track = (AliL3HoughTrack*)tracks->GetCheckedTrack(j);
752 LOG(AliL3Log::kWarning,"AliL3Hough::EvaluatePatch","Track array")
753 <<"Track object missing!"<<ENDLOG;
757 Int_t rowrange[2] = {AliL3Transform::GetFirstRow(i),AliL3Transform::GetLastRow(i)};
758 Bool_t result = fEval[i]->LookInsideRoad(track,nrows,rowrange);
761 Int_t pre=track->GetNHits();
762 track->SetNHits(pre+nrows);
764 else//the track crossed too few good padrows (padrows with signal) in the patch, so remove it
775 void AliL3Hough::MergeEtaSlices()
777 //Merge tracks found in neighbouring eta slices.
778 //Removes the track with the lower weight.
780 fBenchmark->Start("Merge Eta-slices");
781 AliL3TrackArray *tracks = fTracks[0];
784 cerr<<"AliL3Hough::MergeEtaSlices : No tracks "<<endl;
787 for(Int_t j=0; j<tracks->GetNTracks(); j++)
789 AliL3HoughTrack *track1 = (AliL3HoughTrack*)tracks->GetCheckedTrack(j);
790 if(!track1) continue;
791 for(Int_t k=j+1; k<tracks->GetNTracks(); k++)
793 AliL3HoughTrack *track2 = (AliL3HoughTrack*)tracks->GetCheckedTrack(k);
794 if(!track2) continue;
795 if(abs(track1->GetEtaIndex() - track2->GetEtaIndex()) != 1) continue;
796 if(fabs(track1->GetKappa()-track2->GetKappa()) < 0.006 &&
797 fabs(track1->GetPsi()- track2->GetPsi()) < 0.1)
799 //cout<<"Merging track in slices "<<track1->GetEtaIndex()<<" "<<track2->GetEtaIndex()<<endl;
800 if(track1->GetWeight() > track2->GetWeight())
807 fBenchmark->Stop("Merge Eta-slices");
811 void AliL3Hough::WriteTracks(Char_t *path)
813 //cout<<"AliL3Hough::WriteTracks : Sorting the tracsk"<<endl;
814 //fGlobalTracks->QSort();
816 Char_t filename[1024];
817 sprintf(filename,"%s/tracks_%d.raw",path,fEvent);
819 mem.SetBinaryOutput(filename);
820 mem.TrackArray2Binary(fGlobalTracks);
821 mem.CloseBinaryOutput();
822 fGlobalTracks->Reset();
825 void AliL3Hough::WriteTracks(Int_t slice,Char_t *path)
832 sprintf(fname,"%s/tracks_ho_%d_%d.raw",path,fEvent,slice);
833 mem.SetBinaryOutput(fname);
834 mem.TrackArray2Binary(fTracks[0]);
835 mem.CloseBinaryOutput();
839 for(Int_t i=0; i<fNPatches; i++)
841 sprintf(fname,"%s/tracks_ho_%d_%d_%d.raw",path,fEvent,slice,i);
842 mem.SetBinaryOutput(fname);
843 mem.TrackArray2Binary(fTracks[i]);
844 mem.CloseBinaryOutput();
849 void AliL3Hough::WriteDigits(Char_t *outfile)
852 //Write the current data to a new rootfile.
854 for(Int_t i=0; i<fNPatches; i++)
856 AliL3DigitRowData *tempPt = (AliL3DigitRowData*)fHoughTransformer[i]->GetDataPointer();
857 fMemHandler[i]->AliDigits2RootFile(tempPt,outfile);
860 cerr<<"AliL3Hough::WriteDigits : You need to compile with AliROOT!"<<endl;
865 Double_t AliL3Hough::GetCpuTime()
867 //Return the Cputime in seconds.
869 gettimeofday( &tv, NULL );
870 return tv.tv_sec+(((Double_t)tv.tv_usec)/1000000.);