algorithms/tracking/TrackPropagation.cc

0001 // SPDX-License-Identifier: LGPL-3.0-or-later
0002 // Copyright (C) 2022, 2023 Wenqing Fan, Barak Schmookler, Whitney Armstrong, Sylvester Joosten, Dmitry Romanov, Christopher Dilks, Wouter Deconinck
0003
0004 #include <Acts/Definitions/Algebra.hpp>
0005 #include <Acts/Definitions/Direction.hpp>
0006 #include <Acts/Definitions/TrackParametrization.hpp>
0007 #include <Acts/Definitions/Units.hpp>
0008 #if Acts_VERSION_MAJOR >= 46
0009 #include <Acts/EventData/BoundTrackParameters.hpp>
0010 #else
0011 #include <Acts/EventData/GenericBoundTrackParameters.hpp>
0012 #endif
0013 #include <Acts/EventData/MultiTrajectoryHelpers.hpp>
0014 #include <Acts/EventData/VectorMultiTrajectory.hpp>
0015 #include <Acts/Geometry/GeometryIdentifier.hpp>
0016 #include <Acts/Geometry/TrackingGeometry.hpp>
0017 #include <Acts/MagneticField/MagneticFieldProvider.hpp>
0018 #include <Acts/Material/MaterialInteraction.hpp>
0019 #include <Acts/Propagator/ActorList.hpp>
0020 #include <Acts/Propagator/EigenStepper.hpp>
0021 #include <Acts/Propagator/MaterialInteractor.hpp>
0022 #include <Acts/Propagator/Navigator.hpp>
0023 #include <Acts/Propagator/Propagator.hpp>
0024 #include <Acts/Propagator/PropagatorResult.hpp>
0025 #include <Acts/Surfaces/CylinderBounds.hpp>
0026 #include <Acts/Surfaces/CylinderSurface.hpp>
0027 #include <Acts/Surfaces/DiscSurface.hpp>
0028 #include <Acts/Surfaces/RadialBounds.hpp>
0029 #include <Acts/Utilities/Logger.hpp>
0030 #include <DD4hep/Handle.h>
0031 #include <Evaluator/DD4hepUnits.h>
0032 #include <edm4eic/Cov2f.h>
0033 #include <edm4eic/Cov3f.h>
0034 #include <edm4hep/Vector3f.h>
0035 #include <edm4hep/utils/vector_utils.h>
0036 #include <spdlog/common.h>
0037 #include <Eigen/Core>
0038 #include <Eigen/Geometry>
0039 #include <algorithm>
0040 #include <any>
0041 #include <cmath>
0042 #include <cstdint>
0043 #include <functional>
0044 #include <iterator>
0045 #include <map>
0046 #include <optional>
0047 #include <stdexcept>
0048 #include <string>
0049 #include <tuple>
0050 #include <typeinfo>
0051 #include <utility>
0052 #include <variant>
0053
0054 #include "algorithms/tracking/ActsGeometryProvider.h"
0055 #include "algorithms/tracking/TrackPropagation.h"
0056 #include "algorithms/tracking/TrackPropagationConfig.h"
0057 #include "extensions/spdlog/SpdlogToActs.h"
0058
0059 namespace eicrecon {
0060
0061 template <typename... L> struct multilambda : L... {
0062   using L::operator()...;
0063   constexpr multilambda(L... lambda) : L(std::move(lambda))... {}
0064 };
0065
0066 void TrackPropagation::init() {
0067   const auto* detector = m_detector;
0068
0069   std::map<uint32_t, std::size_t> system_id_layers;
0070
0071   multilambda _toDouble = {
0072       [](const std::string& v) { return dd4hep::_toDouble(v); },
0073       [](const double& v) { return v; },
0074   };
0075
0076   auto _toActsSurface =
0077       [&_toDouble, &detector, &system_id_layers](
0078           const std::variant<CylinderSurfaceConfig, DiscSurfaceConfig> surface_variant)
0079       -> std::shared_ptr<Acts::Surface> {
0080     if (std::holds_alternative<CylinderSurfaceConfig>(surface_variant)) {
0081       CylinderSurfaceConfig surface = std::get<CylinderSurfaceConfig>(surface_variant);
0082       const double rmin =
0083           std::visit(_toDouble, surface.rmin) / dd4hep::mm * Acts::UnitConstants::mm;
0084       const double zmin =
0085           std::visit(_toDouble, surface.zmin) / dd4hep::mm * Acts::UnitConstants::mm;
0086       const double zmax =
0087           std::visit(_toDouble, surface.zmax) / dd4hep::mm * Acts::UnitConstants::mm;
0088       const uint32_t system_id = detector->constant<uint32_t>(surface.id);
0089       auto bounds              = std::make_shared<Acts::CylinderBounds>(rmin, (zmax - zmin) / 2);
0090       auto t                   = Acts::Translation3(Acts::Vector3(0, 0, (zmax + zmin) / 2));
0091       auto tf                  = Acts::Transform3(t);
0092       auto acts_surface        = Acts::Surface::makeShared<Acts::CylinderSurface>(tf, bounds);
0093 #if Acts_VERSION_MAJOR >= 40
0094       acts_surface->assignGeometryId(
0095           Acts::GeometryIdentifier().withExtra(system_id).withLayer(++system_id_layers[system_id]));
0096 #else
0097       acts_surface->assignGeometryId(
0098           Acts::GeometryIdentifier().setExtra(system_id).setLayer(++system_id_layers[system_id]));
0099 #endif
0100       return acts_surface;
0101     }
0102     if (std::holds_alternative<DiscSurfaceConfig>(surface_variant)) {
0103       DiscSurfaceConfig surface = std::get<DiscSurfaceConfig>(surface_variant);
0104       const double zmin =
0105           std::visit(_toDouble, surface.zmin) / dd4hep::mm * Acts::UnitConstants::mm;
0106       const double rmin =
0107           std::visit(_toDouble, surface.rmin) / dd4hep::mm * Acts::UnitConstants::mm;
0108       const double rmax =
0109           std::visit(_toDouble, surface.rmax) / dd4hep::mm * Acts::UnitConstants::mm;
0110       const uint32_t system_id = detector->constant<uint32_t>(surface.id);
0111       auto bounds              = std::make_shared<Acts::RadialBounds>(rmin, rmax);
0112       auto t                   = Acts::Translation3(Acts::Vector3(0, 0, zmin));
0113       auto tf                  = Acts::Transform3(t);
0114       auto acts_surface        = Acts::Surface::makeShared<Acts::DiscSurface>(tf, bounds);
0115 #if Acts_VERSION_MAJOR >= 40
0116       acts_surface->assignGeometryId(
0117           Acts::GeometryIdentifier().withExtra(system_id).withLayer(++system_id_layers[system_id]));
0118 #else
0119       acts_surface->assignGeometryId(
0120           Acts::GeometryIdentifier().setExtra(system_id).setLayer(++system_id_layers[system_id]));
0121 #endif
0122       return acts_surface;
0123     }
0124     throw std::domain_error("Unknown surface type");
0125   };
0126   m_target_surfaces.resize(m_cfg.target_surfaces.size());
0127   std::ranges::transform(m_cfg.target_surfaces, m_target_surfaces.begin(), _toActsSurface);
0128   m_filter_surfaces.resize(m_cfg.filter_surfaces.size());
0129   std::ranges::transform(m_cfg.filter_surfaces, m_filter_surfaces.begin(), _toActsSurface);
0130
0131   trace("Initialized");
0132 }
0133
0134 void TrackPropagation::propagateToSurfaceList(const Input& input, const Output& output) const {
0135   const auto [tracks, track_states, tracks_acts] = input;
0136   auto [track_segments]                          = output;
0137
0138   // logging
0139   trace("Propagate tracks: --------------------");
0140   trace("number of tracks: {}", tracks->size());
0141
0142   // Construct ConstTrackContainer from underlying containers
0143   auto trackStateContainer = std::make_shared<Acts::ConstVectorMultiTrajectory>(*track_states);
0144   auto trackContainer      = std::make_shared<Acts::ConstVectorTrackContainer>(*tracks_acts);
0145   ActsExamples::ConstTrackContainer constTracks(trackContainer, trackStateContainer);
0146
0147   // loop over input tracks
0148   std::size_t i = 0;
0149   for (const auto& track : constTracks) {
0150
0151     // check if this track can be propagated to any filter surface
0152     bool track_reaches_filter_surface{false};
0153     for (const auto& filter_surface : m_filter_surfaces) {
0154       auto point = propagate(edm4eic::Track{}, track, constTracks, filter_surface);
0155       if (point) {
0156         track_reaches_filter_surface = true;
0157         break;
0158       }
0159     }
0160     if (!track_reaches_filter_surface) {
0161       ++i;
0162       continue;
0163     }
0164
0165     // start a mutable TrackSegment
0166     auto track_segment = track_segments->create();
0167
0168     // corresponding track
0169     if (tracks->size() == constTracks.size()) {
0170       trace("track segment connected to track {}", i);
0171       track_segment.setTrack((*tracks)[i]);
0172       ++i;
0173     }
0174
0175     // zero measurements of segment length
0176     decltype(edm4eic::TrackSegmentData::length) length            = 0;
0177     decltype(edm4eic::TrackSegmentData::lengthError) length_error = 0;
0178
0179     // loop over projection-target surfaces
0180     for (const auto& target_surface : m_target_surfaces) {
0181
0182       // project the track to this surface
0183       auto point = propagate(edm4eic::Track{}, track, constTracks, target_surface);
0184       if (!point) {
0185         trace("<> Failed to propagate track to this plane");
0186         continue;
0187       }
0188
0189       // logging
0190       trace("<> track: x=( {:>10.2f} {:>10.2f} {:>10.2f} )", point->position.x, point->position.y,
0191             point->position.z);
0192       trace("               p=( {:>10.2f} {:>10.2f} {:>10.2f} )", point->momentum.x,
0193             point->momentum.y, point->momentum.z);
0194
0195       // track point cut
0196       if (!m_cfg.track_point_cut(*point)) {
0197         trace("                 => REJECTED by trackPointCut");
0198         if (m_cfg.skip_track_on_track_point_cut_failure) {
0199           break;
0200         }
0201         continue;
0202       }
0203
0204       // update the `TrackSegment` length
0205       // FIXME: `length` and `length_error` are currently not used by any callers, and may not be correctly calculated here
0206       if (track_segment.points_size() > 0) {
0207         auto pos0 = point->position;
0208         auto pos1 = std::prev(track_segment.points_end())->position;
0209         auto dist = edm4hep::utils::magnitude(pos0 - pos1);
0210         length += dist;
0211         trace("               dist to previous point: {}", dist);
0212       }
0213
0214       // add the `TrackPoint` to the `TrackSegment`
0215       track_segment.addToPoints(*point);
0216
0217     } // end `targetSurfaces` loop
0218
0219     // set final length and length error
0220     track_segment.setLength(length);
0221     track_segment.setLengthError(length_error);
0222
0223   } // end loop over input tracks
0224 }
0225
0226 std::unique_ptr<edm4eic::TrackPoint>
0227 TrackPropagation::propagate(const edm4eic::Track& /* track */,
0228                             const ActsExamples::ConstTrackProxy& acts_track,
0229                             const ActsExamples::ConstTrackContainer& trackContainer,
0230                             const std::shared_ptr<const Acts::Surface>& targetSurf) const {
0231
0232   auto tipIndex = acts_track.tipIndex();
0233
0234   trace("  Propagating track with tip index {}", tipIndex);
0235
0236   // Collect the trajectory summary info
0237   auto trajState =
0238       Acts::MultiTrajectoryHelpers::trajectoryState(trackContainer.trackStateContainer(), tipIndex);
0239   int m_nMeasurements = trajState.nMeasurements;
0240   int m_nStates       = trajState.nStates;
0241
0242   trace("  Num measurement in trajectory: {}", m_nMeasurements);
0243   trace("  Num states in trajectory     : {}", m_nStates);
0244
0245   // Get track state at last measurement surface
0246   // For last measurement surface, filtered and smoothed results are equivalent
0247   auto trackState        = trackContainer.trackStateContainer().getTrackState(tipIndex);
0248   auto initSurface       = trackState.referenceSurface().getSharedPtr();
0249   const auto& initParams = trackState.filtered();
0250   const auto& initCov    = trackState.filteredCovariance();
0251
0252   Acts::BoundTrackParameters initBoundParams(initSurface, initParams, initCov,
0253                                              acts_track.particleHypothesis());
0254
0255   // Get pathlength of last track state with respect to perigee surface
0256   const auto initPathLength = trackState.pathLength();
0257
0258   trace("    TrackPropagation. Propagating to surface # {}", typeid(targetSurf->type()).name());
0259
0260   std::shared_ptr<const Acts::TrackingGeometry> trackingGeometry   = m_geoSvc->trackingGeometry();
0261   std::shared_ptr<const Acts::MagneticFieldProvider> magneticField = m_geoSvc->getFieldProvider();
0262
0263   // Convert algorithm log level to Acts log level
0264   const auto spdlog_level = static_cast<spdlog::level::level_enum>(this->level());
0265   const auto acts_level   = eicrecon::SpdlogToActsLevel(spdlog_level);
0266   ACTS_LOCAL_LOGGER(Acts::getDefaultLogger("PROP", acts_level));
0267
0268   using Propagator        = Acts::Propagator<Acts::EigenStepper<>, Acts::Navigator>;
0269   using PropagatorOptions = Propagator::template Options<Acts::ActorList<Acts::MaterialInteractor>>;
0270   Propagator propagator(Acts::EigenStepper<>(magneticField),
0271                         Acts::Navigator({.trackingGeometry = m_geoSvc->trackingGeometry()},
0272                                         logger().cloneWithSuffix("Navigator")),
0273                         logger().cloneWithSuffix("Propagator"));
0274
0275   // Get run-scoped contexts from service
0276   const auto& gctx = m_geoSvc->getActsGeometryContext();
0277   const auto& mctx = m_geoSvc->getActsMagneticFieldContext();
0278
0279   PropagatorOptions propagationOptions(gctx, mctx);
0280
0281   // Some target surfaces (e.g. DIRC) may be inside the last measurement surface (e.g. BIC),
0282   // so we use a straight line intersection from the last measurement surface to the target
0283   // surface to determine if we have to propagate backwards.
0284   auto initPosition  = initBoundParams.position(gctx);
0285   auto initDirection = initBoundParams.direction();
0286   auto intersections = targetSurf->intersect(gctx, initPosition, initDirection);
0287
0288   // Determine closest forward intersection (positive pathlength from perigee)
0289   auto intersection = intersections.closestForward();
0290   auto difference   = intersection.position() - initPosition;
0291   auto dot          = difference.dot(initBoundParams.direction());
0292
0293   // Propagate forwards by default
0294   propagationOptions.direction = Acts::Direction::Forward();
0295
0296   // but invert if the position difference is opposite to direction
0297   if (intersection.isValid() && dot < 0) {
0298
0299     // The extra fields of the surface geometry ID contain the DD4hep system
0300     auto initSurfaceExtra   = initSurface->geometryId().extra();
0301     auto targetSurfaceExtra = targetSurf->geometryId().extra();
0302     debug("    inverting direction for propagator from surface {} to {}", initSurfaceExtra,
0303           targetSurfaceExtra);
0304     auto p1 = initBoundParams.position(gctx);
0305     debug("      initial position {} {} {}", p1.x(), p1.y(), p1.z());
0306     auto p2 = intersection.position();
0307     debug("      straight line intersection at {} {} {}", p2.x(), p2.y(), p2.z());
0308
0309     // Propagate backwards
0310     propagationOptions.direction = Acts::Direction::Backward();
0311   }
0312
0313   auto result = propagator.propagate(initBoundParams, *targetSurf, propagationOptions);
0314
0315   // check propagation result
0316   if (!result.ok()) {
0317     trace("    propagation failed (!result.ok())");
0318     return nullptr;
0319   }
0320   trace("    propagation result is OK");
0321
0322   // Pulling results to convenient variables
0323   auto trackStateParams  = *((*result).endParameters);
0324   const auto& parameter  = trackStateParams.parameters();
0325   const auto& covariance = *trackStateParams.covariance();
0326
0327   // Path length
0328   const float pathLength      = initPathLength + (*result).pathLength;
0329   const float pathLengthError = 0;
0330   trace("    path len = {}", pathLength);
0331
0332   // Position:
0333   auto projectionPos = trackStateParams.position(gctx);
0334   const decltype(edm4eic::TrackPoint::position) position{static_cast<float>(projectionPos(0)),
0335                                                          static_cast<float>(projectionPos(1)),
0336                                                          static_cast<float>(projectionPos(2))};
0337   const decltype(edm4eic::TrackPoint::positionError) positionError{0, 0, 0};
0338   trace("    pos x = {}", position.x);
0339   trace("    pos y = {}", position.y);
0340   trace("    pos z = {}", position.z);
0341
0342   // Momentum
0343   const decltype(edm4eic::TrackPoint::momentum) momentum = edm4hep::utils::sphericalToVector(
0344       static_cast<float>(1.0 / std::abs(parameter[Acts::eBoundQOverP])),
0345       static_cast<float>(parameter[Acts::eBoundTheta]),
0346       static_cast<float>(parameter[Acts::eBoundPhi]));
0347   const decltype(edm4eic::TrackPoint::momentumError) momentumError{
0348       static_cast<float>(covariance(Acts::eBoundTheta, Acts::eBoundTheta)),
0349       static_cast<float>(covariance(Acts::eBoundPhi, Acts::eBoundPhi)),
0350       static_cast<float>(covariance(Acts::eBoundQOverP, Acts::eBoundQOverP)),
0351       static_cast<float>(covariance(Acts::eBoundTheta, Acts::eBoundPhi)),
0352       static_cast<float>(covariance(Acts::eBoundTheta, Acts::eBoundQOverP)),
0353       static_cast<float>(covariance(Acts::eBoundPhi, Acts::eBoundQOverP))};
0354
0355   // time
0356   const float time{static_cast<float>(parameter(Acts::eBoundTime))};
0357   const float timeError{static_cast<float>(sqrt(covariance(Acts::eBoundTime, Acts::eBoundTime)))};
0358
0359   // Direction
0360   const float theta(parameter[Acts::eBoundTheta]);
0361   const float phi(parameter[Acts::eBoundPhi]);
0362   const decltype(edm4eic::TrackPoint::directionError) directionError{
0363       static_cast<float>(covariance(Acts::eBoundTheta, Acts::eBoundTheta)),
0364       static_cast<float>(covariance(Acts::eBoundPhi, Acts::eBoundPhi)),
0365       static_cast<float>(covariance(Acts::eBoundTheta, Acts::eBoundPhi))};
0366
0367   // >oO debug print
0368   trace("    loc 0   = {:.4f}", parameter[Acts::eBoundLoc0]);
0369   trace("    loc 1   = {:.4f}", parameter[Acts::eBoundLoc1]);
0370   trace("    phi     = {:.4f}", parameter[Acts::eBoundPhi]);
0371   trace("    theta   = {:.4f}", parameter[Acts::eBoundTheta]);
0372   trace("    q/p     = {:.4f}", parameter[Acts::eBoundQOverP]);
0373   trace("    p       = {:.4f}", 1.0 / parameter[Acts::eBoundQOverP]);
0374   trace("    err phi = {:.4f}", sqrt(covariance(Acts::eBoundPhi, Acts::eBoundPhi)));
0375   trace("    err th  = {:.4f}", sqrt(covariance(Acts::eBoundTheta, Acts::eBoundTheta)));
0376   trace("    err q/p = {:.4f}", sqrt(covariance(Acts::eBoundQOverP, Acts::eBoundQOverP)));
0377   trace("    chi2    = {:.4f}", trajState.chi2Sum);
0378   trace("    loc err = {:.4f}", static_cast<float>(covariance(Acts::eBoundLoc0, Acts::eBoundLoc0)));
0379   trace("    loc err = {:.4f}", static_cast<float>(covariance(Acts::eBoundLoc1, Acts::eBoundLoc1)));
0380   trace("    loc err = {:.4f}", static_cast<float>(covariance(Acts::eBoundLoc0, Acts::eBoundLoc1)));
0381
0382   uint64_t surface = targetSurf->geometryId().value();
0383   uint32_t system  = 0; // default value...will be set in TrackPropagation factory
0384
0385   return std::make_unique<edm4eic::TrackPoint>(
0386       edm4eic::TrackPoint{.surface         = surface,
0387                           .system          = system,
0388                           .position        = position,
0389                           .positionError   = positionError,
0390                           .momentum        = momentum,
0391                           .momentumError   = momentumError,
0392                           .time            = time,
0393                           .timeError       = timeError,
0394                           .theta           = theta,
0395                           .phi             = phi,
0396                           .directionError  = directionError,
0397                           .pathlength      = pathLength,
0398                           .pathlengthError = pathLengthError});
0399 }
0400
0401 } // namespace eicrecon