HMPID/SurveyToAlignHmpid.C

   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();
  21
  22         // We retrieve and open the ideal geometry
  23         AliCDBManager* cdbman = AliCDBManager::Instance();
  24         if(!cdbman->IsDefaultStorageSet()){
  25                 cdbman->SetDefaultStorage("local://$ALICE_ROOT/OCDB");
  26         }else{
  27                 cdbman->SetSpecificStorage("GRP/Geometry/*","local://$ALICE_ROOT/OCDB");
  28         }
  29         cdbman->SetRun(0);
  30         AliCDBEntry* cdbe = (AliCDBEntry*) cdbman->Get("GRP/Geometry/Data");
  31
  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         }
  70 }
  71
  72
  73 TGeoHMatrix GetResSurvAlign(Int_t survNch, Int_t& offNch)
  74 {
  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+4*survNch].X(),fFM[0+4*survNch].Y(),fFM[0+4*survNch].Z()};
  91         Double_t ngB[3]={fFM[1+4*survNch].X(),fFM[1+4*survNch].Y(),fFM[1+4*survNch].Z()};
  92         Double_t ngC[3]={fFM[2+4*survNch].X(),fFM[2+4*survNch].Y(),fFM[2+4*survNch].Z()};
  93         Double_t ngD[3]={fFM[3+4*survNch].X(),fFM[3+4*survNch].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         }
 159         cout<<"The center of the box from Survey data: "<<md[0]<<"  "<<md[1]<<"  "<<md[2]<<endl;
 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
 170         cout<<"The origin of the box: "<<orig[0]<<"  "<<orig[1]<<"  "<<orig[2]<<endl;
 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                 }
 179                 cout<<"x "<<ab[0]<<"  "<<ab[1]<<"  "<<ab[2]<<endl;
 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                 }
 186                 cout<<"y "<<bc[0]<<"  "<<bc[1]<<"  "<<bc[2]<<endl;
 187         }
 188
 189
 190         // the global matrix for the surveyed volume - ng
 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
 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;
 210
 211 }
 212
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