#include "AliFMDSurveyToAlignObjs.h"
+#include "AliLog.h"
#include "AliSurveyPoint.h"
#include <TGraph2DErrors.h>
#include <TF2.h>
#include <TGeoPhysicalNode.h>
#include "AliFMDGeometry.h"
+//____________________________________________________________________
+Double_t
+AliFMDSurveyToAlignObjs::GetUnitFactor() const
+{
+ // Returns the conversion factor from the measured values to
+ // centimeters.
+ if (!fSurveyObj) return 0;
+ TString units(fSurveyObj->GetUnits());
+ if (units.CompareTo("mm", TString::kIgnoreCase) == 0) return .1;
+ else if (units.CompareTo("cm", TString::kIgnoreCase) == 0) return 1.;
+ else if (units.CompareTo("m", TString::kIgnoreCase) == 0) return 100.;
+ return 1;
+}
+
//____________________________________________________________________
Bool_t
-AliFMDSurveyToAlignObjs::GetFMD2Plane(Double_t* rot,
- Double_t* trans)
+AliFMDSurveyToAlignObjs::GetPoint(const char* name,
+ TVector3& point,
+ TVector3& error) const
{
+ // Get named point. On return, point will contain the point
+ // coordinates in centimeters, and error will contain the
+ // meassurement errors in centimeters too. If no point is found,
+ // returns false, otherwise true.
+ if (!fSurveyPoints) return kFALSE;
+
+ Double_t unit = GetUnitFactor();
+ if (unit == 0) return kFALSE;
+
+ TObject* obj = fSurveyPoints->FindObject(name);
+ if (!obj) return kFALSE;
+
+ AliSurveyPoint* p = static_cast<AliSurveyPoint*>(obj);
+ point.SetXYZ(unit * p->GetX(),
+ unit * p->GetY(),
+ unit * p->GetZ());
+ error.SetXYZ(unit * p->GetPrecisionX(),
+ unit * p->GetPrecisionY(),
+ unit * p->GetPrecisionZ());
+ return kTRUE;
+}
- // The possile survey points
- const char* names[] = { "FMD2_ITOP", "FMD2_OTOP",
- "FMD2_IBOTM", "FMD2_OBOTM",
- "FMD2_IBOT", "FMD2_OBOT",
- 0 };
- const char** name = names;
- Int_t i = 0;
- TGraph2DErrors g;
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::CalculatePlane(const TVector3& a,
+ const TVector3& b,
+ const TVector3& c,
+ Double_t depth,
+ Double_t* trans,
+ Double_t* rot) const
+{
+ // Vector a->b, b->c, and normal to plane defined by these two
+ // vectors.
+ TVector3 ab(b-a), bc(c-b);
- Double_t unit = 1.;
- TString units(fSurveyObj->GetUnits());
- if (units.CompareTo("mm", TString::kIgnoreCase) == 0) unit = .1;
- else if (units.CompareTo("cm", TString::kIgnoreCase) == 0) unit = 1.;
- else if (units.CompareTo("m", TString::kIgnoreCase) == 0) unit = 100.;
+ // Normal vector to the plane of the fiducial marks obtained
+ // as cross product of the two vectors on the plane d0^d1
+ TVector3 nn(ab.Cross(bc));
+ if (nn.Mag() < 1e-8) {
+ Info("CalculatePlane", "Normal vector is null vector");
+ return kFALSE;
+ }
+
+ // We express the plane in Hessian normal form.
+ //
+ // n x = -p,
+ //
+ // where n is the normalised normal vector given by
+ //
+ // n_x = a / l, n_y = b / l, n_z = c / l, p = d / l
+ //
+ // with l = sqrt(a^2+b^2+c^2) and a, b, c, and d are from the
+ // normal plane equation
+ //
+ // ax + by + cz + d = 0
+ //
+ // Normalize
+ TVector3 n(nn.Unit());
+ // Double_t p = - (n * a);
+
+ // The center of the square with the fiducial marks as the
+ // corners. The mid-point of one diagonal - md. Used to get the
+ // center of the surveyd box.
+ TVector3 md(a + c);
+ md *= 1/2.;
+
+ // The center of the box.
+ TVector3 orig(md - depth * n);
+ trans[0] = orig[0];
+ trans[1] = orig[1];
+ trans[2] = orig[2];
+
+ // Normalize the spanning vectors
+ TVector3 uab(ab.Unit());
+ TVector3 ubc(bc.Unit());
+ for (size_t i = 0; i < 3; i++) {
+ rot[i * 3 + 0] = ubc[i];
+ rot[i * 3 + 1] = uab[i];
+ rot[i * 3 + 2] = n[i];
+ }
+ return kTRUE;
+}
+
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::FitPlane(const TObjArray& points,
+ const TObjArray& errors,
+ Double_t /* depth */,
+ Double_t* trans,
+ Double_t* rot) const
+{
+ Int_t nPoints = points.GetEntries();
+ if (nPoints < 4) {
+ AliError(Form("Cannot fit a plane equation to less than 4 survey points, "
+ "got only %d", nPoints));
+ return kFALSE;
+ }
+
+ TGraph2DErrors g;
// Loop and fill graph
- while (*name) {
- TObject* obj = fSurveyPoints->FindObject(*name);
- name++;
- if (!obj) continue;
-
- AliSurveyPoint* p = static_cast<AliSurveyPoint*>(obj);
- Double_t x = unit * p->GetX();
- Double_t y = unit * p->GetY();
- Double_t z = unit * p->GetZ();
- Double_t ex = unit * p->GetPrecisionX();
- Double_t ey = unit * p->GetPrecisionY();
- Double_t ez = unit * p->GetPrecisionZ();
+ for (int i = 0; i < nPoints; i++) {
+ TVector3* p = static_cast<TVector3*>(points.At(i));
+ TVector3* e = static_cast<TVector3*>(errors.At(i));
+
+ if (!p || !e) continue;
- g.SetPoint(i, x, y, z);
- g.SetPointError(i, ex, ey, ez);
- i++;
+ g.SetPoint(i, p->X(), p->Y(), p->Z());
+ g.SetPointError(i, e->X(), e->Y(), e->Z());
}
-
+
// Check that we have enough points
if (g.GetN() < 4) {
- Error("GetFMD2Plane", "Only got %d survey points - no good for FMD2 plane",
- g.GetN());
+ AliError(Form("Only got %d survey points - no good for plane fit",
+ g.GetN()));
return kFALSE;
}
//
// z = - ax/c - by/c - d/c
//
- TF2 f("fmd2Plane", "-[0]*x-[1]*y-[2]",
- g.GetXmin(), g.GetXmax(), g.GetYmin(), g.GetYmax());
+ TF2 f("plane", "-[0]*x-[1]*y-[2]",
+ g.GetXmin(), g.GetXmax(), g.GetYmin(), g.GetYmax());
g.Fit(&f, "Q");
-
+
// Now, extract the normal and offset
TVector3 nv(f.GetParameter(0), f.GetParameter(1), 1);
TVector3 n(nv.Unit());
Double_t p = -f.GetParameter(2);
-
+
// Create two vectors spanning the plane
TVector3 a(1, 0, f.Eval(1, 0)-p);
TVector3 b(0, -1, f.Eval(0, -1)-p);
TVector3 ua(a.Unit());
TVector3 ub(b.Unit());
- Double_t angAb = ua.Angle(ub);
- PrintVector("ua: ", ua);
- PrintVector("ub: ", ub);
- std::cout << "Angle: " << angAb * 180 / TMath::Pi() << std::endl;
-
+ // Double_t angAb = ua.Angle(ub);
+ // PrintVector("ua: ", ua);
+ // PrintVector("ub: ", ub);
+ // std::cout << "Angle: " << angAb * 180 / TMath::Pi() << std::endl;
+
for (size_t i = 0; i < 3; i++) {
rot[i * 3 + 0] = ua[i];
rot[i * 3 + 1] = ub[i];
rot[i * 3 + 2] = n[i];
}
-
+
// The intersection of the plane is given by (0, 0, -d/c)
trans[0] = 0;
trans[1] = 0;
trans[2] = p;
+
+ return kTRUE;
+}
+
+
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::MakeDelta(const char* path,
+ Double_t* rot,
+ Double_t* trans,
+ TGeoHMatrix& delta) const
+{
+ // Make delta transformation
+ if (!gGeoManager) return kFALSE;
+ if (!gGeoManager->cd(path)) return kFALSE;
+
+
+ TGeoMatrix* global = gGeoManager->GetCurrentMatrix();
+#if 0
+ PrintRotation(Form("%s rot:", global->GetName()),global->GetRotationMatrix());
+ PrintVector(Form("%s trans:", global->GetName()),global->GetTranslation());
+#endif
+
+ return MakeDelta(global, rot, trans, delta);
+}
+
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::MakeDelta(TGeoMatrix* global,
+ Double_t* rot,
+ Double_t* trans,
+ TGeoHMatrix& delta) const
+{
+ // Make delta transformation
+ TGeoHMatrix* geoM = new TGeoHMatrix;
+ geoM->SetTranslation(trans);
+ geoM->SetRotation(rot);
+
+ delta = global->Inverse();
+ delta.MultiplyLeft(geoM);
+
+ return true;
+}
+
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::GetFMD1Plane(Double_t* rot, Double_t* trans) const
+{
+
+ // The possile survey points
+ TVector3 icb, ict, ocb, oct, dummy;
+ Int_t missing = 0;
+ if (!GetPoint("V0L_ICB", icb, dummy)) missing++;
+ if (!GetPoint("V0L_ICT", ict, dummy)) missing++;
+ if (!GetPoint("V0L_OCB", ocb, dummy)) missing++;
+ if (!GetPoint("V0L_OCT", oct, dummy)) missing++;
+
+ // Check that we have enough points
+ if (missing > 1) {
+ AliWarning(Form("Only got %d survey points - no good for FMD1 plane",
+ 4-missing));
+ return kFALSE;
+ }
+
+#if 0
+ const char* lidN = "FMD1_lid_mat0";
+ TGeoMatrix* lidM = static_cast<TGeoMatrix*>(gGeoManager->GetListOfMatrices()
+ ->FindObject(lidN));
+ if (!lidM) {
+ AliError(Form("Couldn't find FMD1 lid transformation %s", lidN));
+ return kFALSE;
+ }
+
+ const Double_t* lidT = lidM->GetTranslation();
+ Double_t lidZ = lidT[2];
+ Double_t off = lidZ-3.3;
+#else
+ Double_t off = 0;
+#endif
+
+ if (!CalculatePlane(ocb, icb, ict, off, trans, rot)) return kFALSE;
+ // PrintRotation("FMD1 rotation:", rot);
+ // PrintVector("FMD1 translation:", trans);
return kTRUE;
}
-#define M(I,J) rot[(J-1) * 3 + (I-1)]
//____________________________________________________________________
Bool_t
-AliFMDSurveyToAlignObjs::DoFMD2()
+AliFMDSurveyToAlignObjs::DoFMD1()
{
+ // Do the FMD1 stuff
Double_t rot[9], trans[3];
- if (!GetFMD2Plane(rot, trans)) return kFALSE;
+ if (!GetFMD1Plane(rot, trans)) return kFALSE;
+ // const char* path = "/ALIC_1/F1MT_1/FMD1_lid_0";
- PrintRotation("Rotation: ", rot);
- PrintVector("Translation: ", trans);
+ // TGeoHMatrix delta;
+ TGeoTranslation global(0,0,324.670);
+ if (!MakeDelta(&global, rot, trans, fFMD1Delta))
+ return kFALSE;
+
+ // PrintRotation("FMD1 delta rotation:", fFMD1Delta.GetRotationMatrix());
+ // PrintVector("FMD1 delta translation:", fFMD1Delta.GetTranslation());
-#if 0
- Double_t theta = TMath::ATan2(M(3,1), M(3,2));
- Double_t phi = TMath::ACos(M(3,3));
- Double_t psi = -TMath::ATan2(M(1,3), M(2,3));
+ return kTRUE;
+}
+
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::GetFMD2Plane(Double_t* rot, Double_t* trans) const
+{
+
+ // The possible survey points
+ const char* names[] = { "FMD2_ITOP", "FMD2_OTOP",
+ "FMD2_IBOTM", "FMD2_OBOTM",
+ "FMD2_IBOT", "FMD2_OBOT",
+ 0 };
+ const char** name = names;
+
+ TObjArray points;
+ TObjArray errors;
- std::cout << " Theta=" << theta * 180 / TMath::Pi()
- << " Phi=" << phi * 180 / TMath::Pi()
- << " Psi=" << psi * 180 / TMath::Pi()
- << std::endl;
+ // Loop and fill graph
+ while (*name) {
+ TVector3 p, e;
+ if (!GetPoint(*name++, p, e)) continue;
+
+ points.Add(new TVector3(p));
+ errors.Add(new TVector3(e));
+ }
+ if (points.GetEntries() < 4) {
+ AliWarning(Form("Only got %d survey points - no good for FMD2 plane",
+ points.GetEntries()));
+ return kFALSE;
+ }
- TRotation r;
- r.SetXEulerAngles(theta, phi, psi);
- r.Print();
+ return FitPlane(points, errors, 0, trans, rot);
+}
+
+#define M(I,J) rot[(J-1) * 3 + (I-1)]
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::DoFMD2()
+{
+ // Do the FMD2 stuff
+ Double_t rot[9], trans[3];
+ if (!GetFMD2Plane(rot, trans)) return kFALSE;
+ // PrintRotation("FMD2 rotation:", rot);
+ // PrintVector("FMD2 translation:", trans);
+
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ rot[i*3+j] = (i == j ? 1 : 0);
+ }
+ }
+ trans[0] = trans[1] = 0;
+ trans[2] += 0.015;
+ // PrintRotation("FMD2 rotation:", rot);
+ // PrintVector("FMD2 translation:", trans);
- TGeoRotation* geoR = new TGeoRotation("FMD2_survey_rotation",
- r.GetYTheta(),
- r.GetYPhi(),
- r.GetYPsi());
- TGeoCombiTrans* geoM = new TGeoCombiTrans(trans[0], trans[1], trans[2], geoR);
-#else
- TGeoHMatrix* geoM = new TGeoHMatrix;
- geoM->SetRotation(rot);
- geoM->SetTranslation(trans);
-#endif
- geoM->Print();
-
- const char* path = "/ALIC_1/F2MT_2/FMD2_support_0/FMD2_back_cover_2";
- gGeoManager->cd(path);
- TGeoMatrix* globalBack = gGeoManager->GetCurrentMatrix();
- globalBack->Print();
- PrintRotation("Back rotation:", globalBack->GetRotationMatrix());
- PrintVector("Back translation:", globalBack->GetTranslation());
-
- // TObjArray* pns = gGeoManager->GetListOfPhysicalNodes();
- // TObject* oT = pns->FindObject("/ALIC_1/F2MT_2");
- // TObject* oB = pns->FindObject("/ALIC_1/F2MB_2");
- // if (!oT) {
- // Warning("DoFMD2", Form("Physical node /ALIC_1/F2MT_2 not found"));
- // return kFALSE;
- // }
- // if (!oB) {
- // Warning("DoFMD2", Form("Physical node /ALIC_1/F2MB_2 not found"));
- // return kFALSE;
- // }
- // TGeoPhysicalNode* top = static_cast<TGeoPhysicalNode*>(oT);
- // TGeoPhysicalNode* bot = static_cast<TGeoPhysicalNode*>(oB);
- TGeoHMatrix tDelta(globalBack->Inverse());
- TGeoHMatrix bDelta(globalBack->Inverse());
- PrintRotation("Back^-1 rotation:", tDelta.GetRotationMatrix());
- PrintVector("Back^-1 translation:", tDelta.GetTranslation());
-
- std::cout << "tDelta = 1? " << tDelta.IsIdentity() << std::endl;
-
- tDelta.MultiplyLeft(geoM);
- bDelta.MultiplyLeft(geoM);
-
- PrintRotation("tDelta rotation:", tDelta.GetRotationMatrix());
- PrintVector("tDelta translation:", tDelta.GetTranslation());
- PrintRotation("bDelta rotation:", bDelta.GetRotationMatrix());
- PrintVector("bDelta translation:", bDelta.GetTranslation());
+ // TGeoHMatrix delta;
+ if (!MakeDelta("/ALIC_1/F2MT_2/FMD2_support_0/FMD2_back_cover_2",
+ rot, trans, fFMD2Delta)) return kFALSE;
+ // PrintRotation("FMD2 delta rotation:", fFMD2Delta.GetRotationMatrix());
+ // PrintVector("FMD2 delta translation:", fFMD2Delta.GetTranslation());
+
return kTRUE;
}
geom->Init();
geom->InitTransformations();
+ DoFMD1();
DoFMD2();
}
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::CreateAlignObjs()
+{
+ TClonesArray& array = *fAlignObjArray;
+ Int_t n = array.GetEntriesFast();
+
+ if (!fFMD1Delta.IsIdentity()) {
+ new (array[n++]) AliAlignObjParams("FMD1/FMD1_T", 0, fFMD1Delta, kTRUE);
+ new (array[n++]) AliAlignObjParams("FMD1/FMD1_B", 0, fFMD1Delta, kTRUE);
+ }
+ if (!fFMD2Delta.IsIdentity()) {
+ new (array[n++]) AliAlignObjParams("FMD2/FMD2_T", 0, fFMD2Delta, kTRUE);
+ new (array[n++]) AliAlignObjParams("FMD2/FMD2_B", 0, fFMD2Delta, kTRUE);
+ }
+ // array.Print();
+
+ return kTRUE;
+}
+
//____________________________________________________________________
void
AliFMDSurveyToAlignObjs::PrintVector(const char* text, const TVector3& v)
{
+ // Print a vector
Double_t va[] = { v.X(), v.Y(), v.Z() };
PrintVector(text, va);
}
void
AliFMDSurveyToAlignObjs::PrintVector(const char* text, const Double_t* v)
{
+ // Print a vector
std::cout << text
<< std::setw(15) << v[0]
<< std::setw(15) << v[1]
void
AliFMDSurveyToAlignObjs::PrintRotation(const char* text, const Double_t* rot)
{
+ // Print a rotation matrix
std::cout << text << std::endl;
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++)
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