Some additional changes related to the previous changes. AliL3Transform
[u/mrichter/AliRoot.git] / HLT / hough / AliL3Hough.cxx
index f3c37e706520a48817f345e2c36b4c5fd3ad1458..0e8b6510df2afad188026eb7da4d964fb827b1cc 100644 (file)
@@ -1,15 +1,24 @@
-//Author:        Anders Strand Vestbo
-//Last Modified: 28.6.01
+//$Id$
+
+// Author: Anders Vestbo <mailto:vestbo@fi.uib.no>
+//*-- Copyright &copy ASV 
+
 
 #include <string.h>
-#include <TCanvas.h>
-#include <TFile.h>
 
+#include "AliL3HoughMerger.h"
+#include "AliL3HoughIntMerger.h"
+#include "AliL3HoughGlobalMerger.h"
+#include "AliL3Logging.h"
 #include "AliL3Histogram.h"
 #include "AliL3Hough.h"
 #include "AliL3HoughTransformer.h"
 #include "AliL3HoughMaxFinder.h"
+#ifdef use_aliroot
 #include "AliL3FileHandler.h"
+#else
+#include "AliL3MemHandler.h"
+#endif
 #include "AliL3DigitData.h"
 #include "AliL3HoughEval.h"
 #include "AliL3Transform.h"
 #include "AliL3TrackArray.h"
 #include "AliL3HoughTrack.h"
 
+
+//_____________________________________________________________
+// AliL3Hough
+//
+// Interface class for the Hough transform
+//
+// Example how to use:
+//
+// AliL3Hough *hough = new AliL3Hough(path,kTRUE,NumberOfEtaSegments);
+// hough->ReadData(slice);
+// hough->Transform();
+// hough->FindTrackCandidates();
+// 
+// AliL3TrackArray *tracks = hough->GetTracks(patch);
+
 ClassImp(AliL3Hough)
 
 AliL3Hough::AliL3Hough()
 {
-
+  //Constructor
   
+  fBinary = kFALSE;
+  fNEtaSegments = 0;
+  fAddHistograms = kFALSE;
+  fDoIterative = kFALSE; 
+  fWriteDigits=kFALSE;
+  fNPatches=0;
+  fMemHandler = 0;
+  fHoughTransformer = 0;
+  fEval = 0;
+  fPeakFinder = 0;
+  fTracks = 0;
+  fMerger = 0;
+  fInterMerger = 0;
+  fGlobalMerger = 0;
+  fTransform = 0;
 }
 
 
 AliL3Hough::AliL3Hough(Char_t *path,Bool_t binary,Int_t n_eta_segments)
 {
+  //Default ctor.
+
   fBinary = binary;
   strcpy(fPath,path);
   fNEtaSegments = n_eta_segments;
+  fAddHistograms = kFALSE;
+  fDoIterative = kFALSE; 
+  fWriteDigits = kFALSE;
   Init();
 }
 
 
 AliL3Hough::~AliL3Hough()
 {
-  if(fMemHandler)
-    DeleteMemory();
-  if(fHoughTransformer)
-    DeleteTransformers();
-  if(fRootFile)
-    {
-      fRootFile->Close();
-      delete fRootFile;
-    }
-}
+  //dtor
 
-void AliL3Hough::DeleteTransformers()
-{
-  for(Int_t i=0; i<NPatches; i++)
-    {
-      if(!fHoughTransformer[i]) continue;
-      delete fHoughTransformer;
-    }
-  delete [] fHoughTransformer;
+  CleanUp();
+  if(fMerger)
+    delete fMerger;
+  if(fInterMerger)
+    delete fInterMerger;
+  if(fPeakFinder)
+    delete fPeakFinder;
+  if(fGlobalMerger)
+    delete fGlobalMerger;
+  if(fTransform)
+    delete fTransform;
 }
 
-void AliL3Hough::DeleteMemory()
+void AliL3Hough::CleanUp()
 {
-  for(Int_t i=0; i<NPatches; i++)
+  //Cleanup memory
+  
+  for(Int_t i=0; i<fNPatches; i++)
     {
-      if(!fMemHandler[i]) continue;
-      delete fMemHandler[i];
+      if(fTracks[i]) delete fTracks[i];
+      if(fEval[i]) delete fEval[i];
+      if(fHoughTransformer[i]) delete fHoughTransformer[i];
+      if(fMemHandler[i]) delete fMemHandler[i];
     }
-  delete [] fMemHandler;
+  
+  /*    
+       if(fTracks) delete [] fTracks;
+       if(fEval) delete [] fEval;
+       if(fHoughTransformer) delete [] fHoughTransformer;
+       if(fMemHandler) delete [] fMemHandler;
+  */
 }
 
 void AliL3Hough::Init()
 {
-  fHoughTransformer = new AliL3HoughTransformer*[NPatches];
-  fMemHandler = new AliL3FileHandler*[NPatches];
-  for(Int_t i=0; i<NPatches; i++)
+  fPeakThreshold = 0;
+  fNPatches = NPatches;
+  fTransform = new AliL3Transform(fPath);
+  fHoughTransformer = new AliL3HoughBaseTransformer*[fNPatches];
+#ifdef use_aliroot
+  fMemHandler = new AliL3FileHandler*[fNPatches];
+#else
+  fMemHandler = new AliL3MemHandler*[fNPatches];
+#endif
+  fTracks = new AliL3TrackArray*[fNPatches];
+  fEval = new AliL3HoughEval*[fNPatches];
+  for(Int_t i=0; i<fNPatches; i++)
     {
       fHoughTransformer[i] = new AliL3HoughTransformer(1,i,fNEtaSegments);
+      fHoughTransformer[i]->SetTransformer(fTransform);
+      //fHoughTransformer[i]->CreateHistograms(64,-0.003,0.003,64,-0.26,0.26);
+      fHoughTransformer[i]->CreateHistograms(64,0.1,64,-30,30);
+      fHoughTransformer[i]->SetThreshold(3);
+      fEval[i] = new AliL3HoughEval();
+      fTracks[i] = new AliL3TrackArray("AliL3HoughTrack");
+#ifdef use_aliroot
       fMemHandler[i] = new AliL3FileHandler();
+      if(!fBinary)
+       fMemHandler[i]->SetAliInput(fPath);
+#else
+      fMemHandler[i] = new AliL3MemHandler();
+#endif
+      
     }
-  if(!fBinary)
-    fRootFile = new TFile(fPath);
+  fPeakFinder = new AliL3HoughMaxFinder("KappaPhi");
+  fMerger = new AliL3HoughMerger(fNPatches);
+  fInterMerger = new AliL3HoughIntMerger();
+  fGlobalMerger = 0;
 }
 
-void AliL3Hough::TransformSlice(Int_t slice)
+void AliL3Hough::Process(Int_t minslice,Int_t maxslice)
 {
+  //Process all slices [minslice,maxslice].
+  fGlobalMerger = new AliL3HoughGlobalMerger(minslice,maxslice);
   
-  for(Int_t i=0; i<NPatches; i++)
+  for(Int_t i=minslice; i<=maxslice; i++)
+    {
+      ReadData(i);
+      Transform();
+      if(fAddHistograms)
+       AddAllHistograms();
+      FindTrackCandidates();
+      Evaluate();
+      fGlobalMerger->FillTracks(fTracks[0],i);
+    }
+  
+  
+}
+
+void AliL3Hough::ReadData(Int_t slice)
+{
+  //Read data from files, binary or root.
+
+  for(Int_t i=0; i<fNPatches; i++)
     {
-      fHoughTransformer[i]->CreateHistograms(64,-0.006,0.006,64,-0.26,0.26);
-      fHoughTransformer[i]->SetThreshold(3);
       fMemHandler[i]->Free();
       UInt_t ndigits=0;
       AliL3DigitRowData *digits =0;
       Char_t name[256];
-      if(fBinary)
+      if(fBinary)//take input data from binary files
        {
          sprintf(name,"%sdigits_%d_%d.raw",fPath,slice,i);
          fMemHandler[i]->SetBinaryInput(name);
@@ -101,39 +191,263 @@ void AliL3Hough::TransformSlice(Int_t slice)
        }
       else //read data from root file
        {
-         fMemHandler[i]->SetAliInput(fRootFile);
+#ifdef use_aliroot
          fMemHandler[i]->Init(slice,i,NRows[i]);
          digits=(AliL3DigitRowData *)fMemHandler[i]->AliDigits2Memory(ndigits); 
+#else
+         cerr<<"You cannot read from rootfile now"<<endl;
+#endif
        }
       fHoughTransformer[i]->SetInputData(ndigits,digits);
-      fHoughTransformer[i]->TransformCircle();
     }
+}
+
+void AliL3Hough::Transform(Int_t row_range)
+{
+  //Transform all data given to the transformer within the given slice
+  //(after ReadData(slice))
+
+  for(Int_t i=0; i<fNPatches; i++)
+    {
+      fHoughTransformer[i]->Reset();//Reset the histograms
+      if(row_range < 0)
+       fHoughTransformer[i]->TransformCircle();
+      else
+       fHoughTransformer[i]->TransformCircleC(row_range);
+    }
+}
+
+void AliL3Hough::MergePatches()
+{
+  if(fAddHistograms) //Nothing to merge here
+    return;
+  fMerger->SetTransformer(fTransform);
+  fMerger->MergePatches(kTRUE);
+}
+
+void AliL3Hough::MergeInternally()
+{
+  if(fAddHistograms)
+    fInterMerger->FillTracks(fTracks[0]);
+  else
+    fInterMerger->FillTracks(fMerger->GetOutTracks());
+  
+  fInterMerger->MMerge();
+}
+
+void AliL3Hough::ProcessSliceIter()
+{
+  //Process current slice (after ReadData(slice)) iteratively.
   
+  for(Int_t i=0; i<fNPatches; i++)
+    {
+      ProcessPatchIter(i);
+      fMerger->FillTracks(fTracks[i],i); //Copy tracks to merger
+    }
+  
+}
+
+void AliL3Hough::ProcessPatchIter(Int_t patch)
+{
+  //Process patch in a iterative way. 
+  //transform + peakfinding + evaluation + transform +...
+
+  Int_t num_of_tries = 10;
+  AliL3HoughBaseTransformer *tr = fHoughTransformer[patch];
+  AliL3TrackArray *tracks = fTracks[patch];
+  tracks->Reset();
+  AliL3HoughEval *ev = fEval[patch];
+  ev->InitTransformer(tr);
+  ev->RemoveFoundTracks();
+  ev->SetNumOfRowsToMiss(2);
+  ev->SetNumOfPadsToLook(2);
+  AliL3Histogram *hist;
+  for(Int_t t=0; t<num_of_tries; t++)
+    {
+      tr->Reset();
+      tr->TransformCircle();
+      for(Int_t i=0; i<fNEtaSegments; i++)
+       {
+         hist = tr->GetHistogram(i);
+         if(hist->GetNEntries()==0) continue;
+         fPeakFinder->SetHistogram(hist);
+         //Int_t n=1;
+         Float_t x,y;
+         //fPeakFinder->FindAbsMaxima(*x,*y);
+         fPeakFinder->FindPeak(3,0.95,5,x,y);
+         AliL3HoughTrack *track = (AliL3HoughTrack*)tracks->NextTrack();
+         track->SetTrackParameters(x,y,1);
+         if(!ev->LookInsideRoad(track,i))
+           {   
+             tracks->Remove(tracks->GetNTracks()-1);
+             tracks->Compress();
+           }
+       }
+    }
+  LOG(AliL3Log::kInformational,"AliL3Hough::ProcessPatch","NTracks")
+    <<AliL3Log::kDec<<"Found "<<tracks->GetNTracks()<<" tracks in patch "<<patch<<ENDLOG;
 }
 
-AliL3Histogram *AliL3Hough::AddHistograms()
+
+void AliL3Hough::AddAllHistograms()
 {
-  AliL3Histogram *hist0 = fHoughTransformer[0]->GetHistogram(0);
-  for(Int_t i=1; i<NPatches; i++)
+  //Add the histograms within one etaslice.
+  //Resulting histogram are in patch=0.
+
+  for(Int_t i=0; i<fNEtaSegments; i++)
     {
-      AliL3Histogram *hist = fHoughTransformer[i]->GetHistogram(0);
-      hist0->Add(hist);
+      AliL3Histogram *hist0 = fHoughTransformer[0]->GetHistogram(i);
+      for(Int_t j=1; j<fNPatches; j++)
+       {
+         AliL3Histogram *hist = fHoughTransformer[j]->GetHistogram(i);
+         hist0->Add(hist);
+       }
     }
+  fAddHistograms = kTRUE;
+}
+
+void AliL3Hough::FindTrackCandidates()
+{
+  //Look for peaks in histograms, and find the track candidates
   
-  return hist0;
+  Int_t n_patches;
+  if(fAddHistograms)
+    n_patches = 1; //Histograms has been added.
+  else
+    n_patches = fNPatches;
+
+  
+  for(Int_t i=0; i<n_patches; i++)
+    {
+      AliL3HoughBaseTransformer *tr = fHoughTransformer[i];
+      Double_t eta_slice = (tr->GetEtaMax()-tr->GetEtaMin()/tr->GetNEtaSegments());
+      fTracks[i]->Reset();
+      for(Int_t j=0; j<fNEtaSegments; j++)
+       {
+         AliL3Histogram *hist = tr->GetHistogram(j);
+         if(hist->GetNEntries()==0) continue;
+         fPeakFinder->SetHistogram(hist);
+         fPeakFinder->SetThreshold(fPeakThreshold);
+         Int_t n=20;
+         Float_t x[n];
+         Float_t y[n];
+         Int_t weight[n];
+         //fPeakFinder->FindPeak1(x,y,weight,n,2,1);
+         fPeakFinder->FindMaxima(x,y,weight,n);
+         for(Int_t k=0; k<n; k++)
+           {
+             if(weight[k] == 0) continue;
+             
+             AliL3HoughTrack *track = (AliL3HoughTrack*)fTracks[i]->NextTrack();
+             track->SetTrackParameters(x[k],y[k],weight[k]);
+             track->SetEtaIndex(j);
+             track->SetEta((Double_t)(j*eta_slice));
+             track->SetRowRange(NRows[0][0],NRows[5][1]);
+           }
+       }
+      fTracks[i]->QSort();
+    }
 }
 
-void AliL3Hough::Evaluate(AliL3Histogram *hist)
+void AliL3Hough::Evaluate(Int_t road_width)
 {
+  //Evaluate the tracks, by looking along the road in the raw data.
+  
+
+  if(!fTracks[0])
+    {
+      LOG(AliL3Log::kError,"AliL3Hough::Evaluate","Track Array")
+       <<"No tracks to work with..."<<ENDLOG;
+      return;
+    }
+  
+  printf("Number of tracks before evaluation %d\n",fTracks[0]->GetNTracks());
+  AliL3TrackArray *tracks;
+  for(Int_t i=0; i<fNPatches; i++)
+    {
+      fEval[i]->InitTransformer(fHoughTransformer[i]);
+      continue;
+      fEval[i]->SetNumOfRowsToMiss(2);
+      fEval[i]->SetNumOfPadsToLook(road_width);
+      if(fAddHistograms)
+       tracks = fTracks[0];
+      else
+       tracks = fTracks[i];
+      for(Int_t j=0; j<tracks->GetNTracks(); j++)
+       {
+         AliL3HoughTrack *track = (AliL3HoughTrack*)tracks->GetCheckedTrack(j);
+         if(!track)
+           {
+             LOG(AliL3Log::kWarning,"AliL3Hough::Evaluate","Track array")
+               <<"Track object missing!"<<ENDLOG;
+             continue;
+           }
+         
+         if(!fEval[i]->LookInsideRoad(track,track->GetEtaIndex()))
+           tracks->Remove(j);
+         if(fAddHistograms)
+           track->SetRowRange(NRows[0][0],NRows[5][1]);//All rows included
+       }
+      tracks->Compress();
+      tracks->QSort(); //Sort the tracks according to weight
+      
+      if(!fAddHistograms)
+       fMerger->FillTracks(tracks,i); //Copy tracks to the track merger
+    }
   
-  AliL3HoughEval **eval = new AliL3HoughEval*[NPatches];
-  for(Int_t i=0; i<NPatches; i++)
+}
+
+void AliL3Hough::EvaluateWithEta()
+{
+  if(!fTracks[0])
+    {
+      printf("AliL3Hough::EvaluateWithEta: NO TRACKS\n");
+      return;
+    }
+  printf("Number of tracks before evaluation %d\n",fTracks[0]->GetNTracks());
+  for(Int_t i=0; i<fNPatches; i++)
     {
-      eval[i] = new AliL3HoughEval(fHoughTransformer[i]);
-      eval[i]->DisplayEtaSlice(0,hist);
-      delete eval[i];
+      fEval[i]->InitTransformer(fHoughTransformer[i]);
+      fEval[i]->FindEta(fTracks[0]);
     }
+  fMerger->FillTracks(fTracks[0],0);
+}
+
+void AliL3Hough::WriteTracks(Char_t *path)
+{
+  AliL3MemHandler *mem = new AliL3MemHandler();
+  Char_t fname[100];
+  if(fAddHistograms)
+    {
+      sprintf(fname,"%s/tracks.raw",path);
+      mem->SetBinaryOutput(fname);
+      mem->TrackArray2Binary(fTracks[0]);
+      mem->CloseBinaryOutput();
+    }
+  else 
+    {
+      for(Int_t i=0; i<fNPatches; i++)
+       {
+         sprintf(fname,"%s/tracks_%d.raw",path,i);
+         mem->SetBinaryOutput(fname);
+         mem->TrackArray2Binary(fTracks[i]);
+         mem->CloseBinaryOutput();
+       }
+    }
+  delete mem;
   
-  delete [] eval;
+}
+#ifdef use_aliroot
+void AliL3Hough::WriteDigits(Char_t *outfile)
+{
+  //Write the current data to a new rootfile.
 
+  for(Int_t i=0; i<fNPatches; i++)
+    {
+      AliL3DigitRowData *tempPt = (AliL3DigitRowData*)fHoughTransformer[i]->GetDataPointer();
+      fMemHandler[i]->AliDigits2RootFile(tempPt,outfile);
+    }
+  
 }
+#endif