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refactor: rewrite measurement selector (#3083)
Changes to improve the measurement selector /cc @andiwand and @goetzgaycken
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| Original file line number | Diff line number | Diff line change |
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| // This file is part of the Acts project. | ||
| // | ||
| // Copyright (C) 2019-2024 CERN for the benefit of the Acts project | ||
| // | ||
| // This Source Code Form is subject to the terms of the Mozilla Public | ||
| // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| // file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
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| namespace Acts { | ||
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| template <typename traj_t> | ||
| Result< | ||
| std::pair<typename std::vector<typename traj_t::TrackStateProxy>::iterator, | ||
| typename std::vector<typename traj_t::TrackStateProxy>::iterator>> | ||
| MeasurementSelector::select( | ||
| std::vector<typename traj_t::TrackStateProxy>& candidates, bool& isOutlier, | ||
| const Logger& logger) const { | ||
| using Result = Result<std::pair< | ||
| typename std::vector<typename traj_t::TrackStateProxy>::iterator, | ||
| typename std::vector<typename traj_t::TrackStateProxy>::iterator>>; | ||
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| ACTS_VERBOSE("Invoked MeasurementSelector"); | ||
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| // Return error if no measurement | ||
| if (candidates.empty()) { | ||
| return CombinatorialKalmanFilterError::MeasurementSelectionFailed; | ||
| } | ||
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| // Get geoID of this surface | ||
| auto geoID = candidates.front().referenceSurface().geometryId(); | ||
| // Find the appropriate cuts | ||
| auto cuts = m_config.find(geoID); | ||
| if (cuts == m_config.end()) { | ||
| // for now we consider missing cuts an unrecoverable error | ||
| // TODO consider other options e.g. do not add measurements at all (not | ||
| // even as outliers) | ||
| return CombinatorialKalmanFilterError::MeasurementSelectionFailed; | ||
| } | ||
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| assert(!cuts->chi2CutOff.empty()); | ||
| const std::vector<double>& chi2CutOff = cuts->chi2CutOff; | ||
| const double maxChi2Cut = | ||
| std::min(*std::max_element(chi2CutOff.begin(), chi2CutOff.end()), | ||
| getCut<traj_t>(candidates.front(), cuts, chi2CutOff, logger)); | ||
| const std::size_t numMeasurementsCut = getCut<traj_t>( | ||
| candidates.front(), cuts, cuts->numMeasurementsCutOff, logger); | ||
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| if (numMeasurementsCut == 0ul) { | ||
| return CombinatorialKalmanFilterError::MeasurementSelectionFailed; | ||
| } | ||
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| double minChi2 = std::numeric_limits<double>::max(); | ||
| std::size_t minIndex = std::numeric_limits<std::size_t>::max(); | ||
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| isOutlier = false; | ||
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| // Loop over all measurements to select the compatible measurements | ||
| // Sort track states which do not satisfy the chi2 cut to the end. | ||
| // When done trackStateIterEnd will point to the first element that | ||
| // does not satisfy the chi2 cut. | ||
| std::size_t passedCandidates = 0ul; | ||
| for (std::size_t i(0ul); i < candidates.size(); ++i) { | ||
| auto& trackState = candidates[i]; | ||
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| // This abuses an incorrectly sized vector / matrix to access the | ||
| // data pointer! This works (don't use the matrix as is!), but be | ||
| // careful! | ||
| double chi2 = calculateChi2( | ||
| trackState | ||
| .template calibrated<MultiTrajectoryTraits::MeasurementSizeMax>() | ||
| .data(), | ||
| trackState | ||
| .template calibratedCovariance< | ||
| MultiTrajectoryTraits::MeasurementSizeMax>() | ||
| .data(), | ||
| trackState.predicted(), trackState.predictedCovariance(), | ||
| trackState.projector(), trackState.calibratedSize()); | ||
| trackState.chi2() = chi2; | ||
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| if (chi2 < minChi2) { | ||
| minChi2 = chi2; | ||
| minIndex = i; | ||
| } | ||
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| // only consider track states which pass the chi2 cut | ||
| if (chi2 >= maxChi2Cut) { | ||
| continue; | ||
| } | ||
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| if (passedCandidates != i) { | ||
| std::swap(candidates[passedCandidates], candidates[i]); | ||
| if (minIndex == i) { | ||
| minIndex = passedCandidates; | ||
| } | ||
| } | ||
| ++passedCandidates; | ||
| } | ||
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| // If there are no measurements below the chi2 cut off, return the | ||
| // measurement with the best chi2 and tag it as an outlier | ||
| if (passedCandidates == 0ul) { | ||
| ACTS_VERBOSE("No measurement candidate. Return an outlier measurement chi2=" | ||
| << minChi2); | ||
| isOutlier = true; | ||
| } | ||
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| if (passedCandidates <= 1ul || numMeasurementsCut == 1ul) { | ||
| // return single item range, no sorting necessary | ||
| ACTS_VERBOSE("Returning only 1 element"); | ||
| return Result::success(std::make_pair(candidates.begin() + minIndex, | ||
| candidates.begin() + minIndex + 1)); | ||
| } | ||
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| std::sort( | ||
| candidates.begin(), candidates.begin() + passedCandidates, | ||
| [](const auto& tsa, const auto& tsb) { return tsa.chi2() < tsb.chi2(); }); | ||
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| if (passedCandidates <= numMeasurementsCut) { | ||
| ACTS_VERBOSE("Number of selected measurements: " | ||
| << passedCandidates << ", max: " << numMeasurementsCut); | ||
| return Result::success(std::make_pair( | ||
| candidates.begin(), candidates.begin() + passedCandidates)); | ||
| } | ||
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| ACTS_VERBOSE("Number of selected measurements: " | ||
| << numMeasurementsCut << ", max: " << numMeasurementsCut); | ||
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| return Result::success(std::make_pair( | ||
| candidates.begin(), candidates.begin() + numMeasurementsCut)); | ||
| } | ||
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| template <typename traj_t, typename cut_value_t> | ||
| cut_value_t MeasurementSelector::getCut( | ||
| const typename traj_t::TrackStateProxy& trackState, | ||
| const Acts::MeasurementSelector::Config::Iterator selector, | ||
| const std::vector<cut_value_t>& cuts, const Logger& logger) { | ||
| const auto& etaBins = selector->etaBins; | ||
| if (etaBins.empty()) { | ||
| return cuts[0]; // shortcut if no etaBins | ||
| } | ||
| const auto eta = std::atanh(std::cos(trackState.predicted()[eBoundTheta])); | ||
| const auto abseta = std::abs(eta); | ||
| std::size_t bin = 0; | ||
| for (auto etaBin : etaBins) { | ||
| if (etaBin >= abseta) { | ||
| break; | ||
| } | ||
| bin++; | ||
| } | ||
| if (bin >= cuts.size()) { | ||
| bin = cuts.size() - 1; | ||
| } | ||
| ACTS_VERBOSE("Get cut for eta=" << eta << ": " << cuts[bin]); | ||
| return cuts[bin]; | ||
| } | ||
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| } // namespace Acts |
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