algorithms/tracking/CKFTracking.cc

0001 // SPDX-License-Identifier: LGPL-3.0-or-later
0002 // Copyright (C) 2022 - 2025 Whitney Armstrong, Wouter Deconinck, Dmitry Romanov, Shujie Li, Dmitry Kalinkin
0003
0004 #include "CKFTracking.h"
0005
0006 #include <Acts/Definitions/Algebra.hpp>
0007 #include <Acts/Definitions/Common.hpp>
0008 #include <Acts/Definitions/Direction.hpp>
0009 #include <Acts/Definitions/TrackParametrization.hpp>
0010 #include <Acts/Definitions/Units.hpp>
0011 #include <Acts/EventData/GenericBoundTrackParameters.hpp>
0012 #include <Acts/EventData/MeasurementHelpers.hpp>
0013 #include <Acts/EventData/TrackStatePropMask.hpp>
0014 #include <Acts/Geometry/GeometryContext.hpp>
0015 #include <Acts/Geometry/GeometryHierarchyMap.hpp>
0016 #include <Acts/TrackFinding/CombinatorialKalmanFilterExtensions.hpp>
0017 #include <Acts/Utilities/CalibrationContext.hpp>
0018 #include <spdlog/common.h>
0019 #include <algorithm>
0020 #include <any>
0021 #include <array>
0022 #include <cstddef>
0023 #include <cstdint>
0024 #include <functional>
0025 #include <string>
0026 #include <system_error>
0027 #include <tuple>
0028 #include <utility>
0029 #if Acts_VERSION_MAJOR < 43
0030 #include <Acts/Utilities/Iterator.hpp>
0031 #endif
0032 #include <Acts/EventData/ParticleHypothesis.hpp>
0033 #include <Acts/EventData/ProxyAccessor.hpp>
0034 #include <Acts/EventData/SourceLink.hpp>
0035 #include <Acts/EventData/TrackContainer.hpp>
0036 #include <Acts/EventData/TrackProxy.hpp>
0037 #include <Acts/EventData/VectorMultiTrajectory.hpp>
0038 #include <Acts/EventData/VectorTrackContainer.hpp>
0039 #include <Acts/Geometry/GeometryIdentifier.hpp>
0040 #include <Acts/Propagator/ActorList.hpp>
0041 #include <Acts/Propagator/EigenStepper.hpp>
0042 #include <Acts/Propagator/MaterialInteractor.hpp>
0043 #include <Acts/Propagator/Navigator.hpp>
0044 #include <Acts/Propagator/Propagator.hpp>
0045 #include <Acts/Propagator/PropagatorOptions.hpp>
0046 #include <Acts/Propagator/StandardAborters.hpp>
0047 #include <Acts/Surfaces/PerigeeSurface.hpp>
0048 #include <Acts/Surfaces/Surface.hpp>
0049 #include <Acts/TrackFinding/TrackStateCreator.hpp>
0050 #include <Acts/TrackFitting/GainMatrixUpdater.hpp>
0051 #include <Acts/Utilities/Logger.hpp>
0052 #include <Acts/Utilities/TrackHelpers.hpp>
0053 #include <ActsExamples/EventData/GeometryContainers.hpp>
0054 #include <ActsExamples/EventData/IndexSourceLink.hpp>
0055 #include <ActsExamples/EventData/Track.hpp>
0056 #include <boost/container/vector.hpp>
0057 #include <edm4eic/Cov3f.h>
0058 #include <edm4eic/Cov6f.h>
0059 #include <edm4eic/Measurement2DCollection.h>
0060 #include <edm4eic/TrackParametersCollection.h>
0061 #include <edm4eic/TrackSeedCollection.h>
0062 #include <edm4eic/unit_system.h>
0063 #include <edm4hep/Vector2f.h>
0064 #include <Eigen/Core>
0065 #include <Eigen/Geometry>
0066 #include <Eigen/LU> // IWYU pragma: keep
0067 // IWYU pragma: no_include <Acts/Utilities/detail/ContextType.hpp>
0068 // IWYU pragma: no_include <Acts/Utilities/detail/ContainerIterator.hpp>
0069
0070 #include "ActsGeometryProvider.h"
0071 #include "extensions/edm4eic/EDM4eicToActs.h"
0072 #include "extensions/spdlog/SpdlogFormatters.h" // IWYU pragma: keep
0073 #include "extensions/spdlog/SpdlogToActs.h"
0074
0075 namespace {
0076
0077 /// Calibrator that reads directly from edm4eic::Measurement2DCollection.
0078 /// Also owns the geometry-ordered IndexSourceLink multiset built from the same collection.
0079 class EDM4eicMeasurementSourceLinkCalibrator {
0080 public:
0081   explicit EDM4eicMeasurementSourceLinkCalibrator(const edm4eic::Measurement2DCollection* meas2Ds)
0082       : m_meas2Ds(meas2Ds) {
0083     for (std::size_t index = 0; index < meas2Ds->size(); ++index) {
0084       m_orderedSourceLinks.emplace(Acts::GeometryIdentifier{(*meas2Ds)[index].getSurface()}, index);
0085     }
0086   }
0087
0088   const ActsExamples::GeometryIdMultiset<ActsExamples::IndexSourceLink>&
0089   orderedSourceLinks() const {
0090     return m_orderedSourceLinks;
0091   }
0092
0093   void calibrate(const Acts::GeometryContext& /*gctx*/, const Acts::CalibrationContext& /*cctx*/,
0094                  const Acts::SourceLink& sourceLink,
0095                  Acts::VectorMultiTrajectory::TrackStateProxy trackState) const {
0096     trackState.setUncalibratedSourceLink(Acts::SourceLink{sourceLink});
0097     const auto& idxSourceLink = sourceLink.get<ActsExamples::IndexSourceLink>();
0098     const auto& meas2D        = (*m_meas2Ds)[idxSourceLink.index()];
0099
0100 #if Acts_VERSION_MAJOR > 45 || (Acts_VERSION_MAJOR == 45 && Acts_VERSION_MINOR >= 2)
0101     Acts::Vector<2> loc       = Acts::Vector2::Zero();
0102     Acts::SquareMatrix<2> cov = Acts::SquareMatrix<2>::Zero();
0103 #else
0104     Acts::ActsVector<2> loc       = Acts::Vector2::Zero();
0105     Acts::ActsSquareMatrix<2> cov = Acts::ActsSquareMatrix<2>::Zero();
0106 #endif
0107     constexpr auto mm                       = Acts::UnitConstants::mm / edm4eic::unit::mm;
0108     constexpr auto mm2                      = mm * mm;
0109     loc[Acts::eBoundLoc0]                   = meas2D.getLoc().a * mm;
0110     loc[Acts::eBoundLoc1]                   = meas2D.getLoc().b * mm;
0111     cov(Acts::eBoundLoc0, Acts::eBoundLoc0) = meas2D.getCovariance().xx * mm2;
0112     cov(Acts::eBoundLoc1, Acts::eBoundLoc1) = meas2D.getCovariance().yy * mm2;
0113     cov(Acts::eBoundLoc0, Acts::eBoundLoc1) = meas2D.getCovariance().xy * mm2;
0114     cov(Acts::eBoundLoc1, Acts::eBoundLoc0) = meas2D.getCovariance().xy * mm2;
0115
0116     trackState.allocateCalibrated(loc, cov);
0117     std::array<uint8_t, 2> indices{static_cast<uint8_t>(Acts::eBoundLoc0),
0118                                    static_cast<uint8_t>(Acts::eBoundLoc1)};
0119     trackState.setProjectorSubspaceIndices(indices);
0120   }
0121
0122 private:
0123   const edm4eic::Measurement2DCollection* m_meas2Ds;
0124   ActsExamples::GeometryIdMultiset<ActsExamples::IndexSourceLink> m_orderedSourceLinks;
0125 };
0126
0127 } // anonymous namespace
0128
0129 namespace eicrecon {
0130
0131 using namespace Acts::UnitLiterals;
0132
0133 void CKFTracking::init() {
0134   m_acts_logger = Acts::getDefaultLogger(
0135       "CKF", eicrecon::SpdlogToActsLevel(static_cast<spdlog::level::level_enum>(this->level())));
0136
0137   // eta bins, chi2 and #sourclinks per surface cutoffs
0138   m_sourcelinkSelectorCfg = {
0139       {Acts::GeometryIdentifier(),
0140        {.etaBins               = m_cfg.etaBins,
0141         .chi2CutOff            = m_cfg.chi2CutOff,
0142         .numMeasurementsCutOff = {m_cfg.numMeasurementsCutOff.begin(),
0143                                   m_cfg.numMeasurementsCutOff.end()}}},
0144   };
0145   m_trackFinderFunc = CKFTracking::makeCKFTrackingFunction(
0146       m_geoSvc->trackingGeometry(), m_geoSvc->getFieldProvider(), acts_logger());
0147 }
0148
0149 void CKFTracking::process(const Input& input, const Output& output) const {
0150   const auto [init_trk_seeds, meas2Ds]      = input;
0151   auto [output_track_states, output_tracks] = output;
0152
0153   // If measurements or initial track parameters are empty, create empty output containers
0154   if (meas2Ds->empty() || init_trk_seeds->empty()) {
0155     debug("No seeds or measurements, creating empty output containers");
0156     *output_track_states = new Acts::ConstVectorMultiTrajectory();
0157     *output_tracks       = new Acts::ConstVectorTrackContainer();
0158     return;
0159   }
0160
0161   ActsExamples::TrackParametersContainer acts_init_trk_params;
0162   for (const auto& track_seed : *init_trk_seeds) {
0163
0164     const auto& track_parameter = track_seed.getParams();
0165
0166     Acts::BoundVector params;
0167     params(Acts::eBoundLoc0) =
0168         track_parameter.getLoc().a * Acts::UnitConstants::mm; // cylinder radius
0169     params(Acts::eBoundLoc1) =
0170         track_parameter.getLoc().b * Acts::UnitConstants::mm; // cylinder length
0171     params(Acts::eBoundPhi)    = track_parameter.getPhi();
0172     params(Acts::eBoundTheta)  = track_parameter.getTheta();
0173     params(Acts::eBoundQOverP) = track_parameter.getQOverP() / Acts::UnitConstants::GeV;
0174     params(Acts::eBoundTime)   = track_parameter.getTime() * Acts::UnitConstants::ns;
0175
0176 #if Acts_VERSION_MAJOR > 45 || (Acts_VERSION_MAJOR == 45 && Acts_VERSION_MINOR >= 1)
0177     Acts::BoundMatrix cov = Acts::BoundMatrix::Zero();
0178 #else
0179     Acts::BoundSquareMatrix cov = Acts::BoundSquareMatrix::Zero();
0180 #endif
0181     for (std::size_t i = 0; const auto& [a, x] : edm4eic_indexed_units) {
0182       for (std::size_t j = 0; const auto& [b, y] : edm4eic_indexed_units) {
0183         cov(a, b) = track_parameter.getCovariance()(i, j) * x * y;
0184         ++j;
0185       }
0186       ++i;
0187     }
0188
0189     // Construct a perigee surface as the target surface
0190     auto pSurface = Acts::Surface::makeShared<const Acts::PerigeeSurface>(Acts::Vector3(0, 0, 0));
0191
0192     // Create parameters
0193     acts_init_trk_params.emplace_back(pSurface, params, cov, Acts::ParticleHypothesis::pion());
0194   }
0195
0196   //// Construct a perigee surface as the target surface
0197   auto pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3{0., 0., 0.});
0198
0199   // Convert algorithm log level to Acts log level for local logger
0200   const auto spdlog_level = static_cast<spdlog::level::level_enum>(this->level());
0201   const auto acts_level   = eicrecon::SpdlogToActsLevel(spdlog_level);
0202   ACTS_LOCAL_LOGGER(Acts::getDefaultLogger("CKF", acts_level));
0203
0204   // Get run-scoped contexts from service
0205   const auto& gctx = m_geoSvc->getActsGeometryContext();
0206   const auto& mctx = m_geoSvc->getActsMagneticFieldContext();
0207   const auto& cctx = m_geoSvc->getActsCalibrationContext();
0208
0209   Acts::PropagatorPlainOptions pOptions(gctx, mctx);
0210   pOptions.maxSteps = 10000;
0211
0212   EDM4eicMeasurementSourceLinkCalibrator calibratorImpl{meas2Ds};
0213   Acts::GainMatrixUpdater kfUpdater;
0214   Acts::MeasurementSelector measSel{m_sourcelinkSelectorCfg};
0215
0216   Acts::CombinatorialKalmanFilterExtensions<ActsExamples::TrackContainer> extensions;
0217   extensions.updater.connect<&Acts::GainMatrixUpdater::operator()<
0218       typename ActsExamples::TrackContainer::TrackStateContainerBackend>>(&kfUpdater);
0219
0220   ActsExamples::IndexSourceLinkAccessor slAccessor;
0221   slAccessor.container = &calibratorImpl.orderedSourceLinks();
0222   using TrackStateCreatorType =
0223       Acts::TrackStateCreator<ActsExamples::IndexSourceLinkAccessor::Iterator,
0224                               ActsExamples::TrackContainer>;
0225   TrackStateCreatorType trackStateCreator;
0226   trackStateCreator.sourceLinkAccessor
0227       .template connect<&ActsExamples::IndexSourceLinkAccessor::range>(&slAccessor);
0228   trackStateCreator.calibrator.template connect<&EDM4eicMeasurementSourceLinkCalibrator::calibrate>(
0229       &calibratorImpl);
0230   trackStateCreator.measurementSelector
0231       .template connect<&Acts::MeasurementSelector::select<Acts::VectorMultiTrajectory>>(&measSel);
0232
0233   extensions.createTrackStates.template connect<&TrackStateCreatorType::createTrackStates>(
0234       &trackStateCreator);
0235
0236   // Set the CombinatorialKalmanFilter options
0237   CKFTracking::TrackFinderOptions options(gctx, mctx, cctx, extensions, pOptions);
0238
0239   using Extrapolator        = Acts::Propagator<Acts::EigenStepper<>, Acts::Navigator>;
0240   using ExtrapolatorOptions = Extrapolator::template Options<
0241       Acts::ActorList<Acts::MaterialInteractor, Acts::EndOfWorldReached>>;
0242   Extrapolator extrapolator(Acts::EigenStepper<>(m_BField),
0243                             Acts::Navigator({.trackingGeometry = m_geoSvc->trackingGeometry()},
0244                                             acts_logger().cloneWithSuffix("Navigator")),
0245                             acts_logger().cloneWithSuffix("Propagator"));
0246   ExtrapolatorOptions extrapolationOptions(gctx, mctx);
0247
0248   // Create track container
0249   auto trackContainer      = std::make_shared<Acts::VectorTrackContainer>();
0250   auto trackStateContainer = std::make_shared<Acts::VectorMultiTrajectory>();
0251   ActsExamples::TrackContainer acts_tracks(trackContainer, trackStateContainer);
0252
0253   // Create temporary track container
0254   auto trackContainerTemp      = std::make_shared<Acts::VectorTrackContainer>();
0255   auto trackStateContainerTemp = std::make_shared<Acts::VectorMultiTrajectory>();
0256   ActsExamples::TrackContainer acts_tracks_temp(trackContainerTemp, trackStateContainerTemp);
0257
0258   // Add seed number column
0259   acts_tracks.addColumn<unsigned int>("seed");
0260   acts_tracks_temp.addColumn<unsigned int>("seed");
0261   Acts::ProxyAccessor<unsigned int> seedNumber("seed");
0262
0263   // Loop over seeds
0264   for (std::size_t iseed = 0; iseed < acts_init_trk_params.size(); ++iseed) {
0265
0266     // Clear trackContainerTemp and trackStateContainerTemp
0267     acts_tracks_temp.clear();
0268
0269     // Run track finding for this seed
0270     auto result = (*m_trackFinderFunc)(acts_init_trk_params.at(iseed), options, acts_tracks_temp);
0271
0272     if (!result.ok()) {
0273       debug("Track finding failed for seed {} with error {}", iseed, result.error().message());
0274       continue;
0275     }
0276
0277     // Set seed number for all found tracks
0278     auto& tracksForSeed = result.value();
0279     for (auto& track : tracksForSeed) {
0280       // Check if track has at least one valid (non-outlier) measurement
0281       // (this check avoids errors inside smoothing and extrapolation)
0282       auto lastMeasurement = Acts::findLastMeasurementState(track);
0283       if (!lastMeasurement.ok()) {
0284         debug("Track {} for seed {} has no valid measurements, skipping", track.index(), iseed);
0285         continue;
0286       }
0287
0288       if (track.nMeasurements() < m_cfg.numMeasurementsMin) {
0289         trace("Track {} for seed {} has fewer measurements than minimum of {}, skipping",
0290               track.index(), iseed, m_cfg.numMeasurementsMin);
0291         continue;
0292       }
0293
0294       auto smoothingResult = Acts::smoothTrack(gctx, track, acts_logger());
0295       if (!smoothingResult.ok()) {
0296         debug("Smoothing for seed {} and track {} failed with error {}", iseed, track.index(),
0297               smoothingResult.error().message());
0298         continue;
0299       }
0300
0301       auto extrapolationResult = Acts::extrapolateTrackToReferenceSurface(
0302           track, *pSurface, extrapolator, extrapolationOptions,
0303           Acts::TrackExtrapolationStrategy::firstOrLast, acts_logger());
0304
0305       if (!extrapolationResult.ok()) {
0306         debug("Extrapolation for seed {} and track {} failed with error {}", iseed, track.index(),
0307               extrapolationResult.error().message());
0308         continue;
0309       }
0310
0311       seedNumber(track) = iseed;
0312
0313       // Copy accepted track into main track container
0314       auto acts_tracks_proxy = acts_tracks.makeTrack();
0315       acts_tracks_proxy.copyFrom(track);
0316     }
0317   }
0318
0319   // Allocate new const containers and assign pointers to outputs
0320   *output_track_states = new Acts::ConstVectorMultiTrajectory(std::move(*trackStateContainer));
0321   *output_tracks       = new Acts::ConstVectorTrackContainer(std::move(*trackContainer));
0322 }
0323
0324 } // namespace eicrecon