Findlet for finging intersections of sinosoidal curves in the 2D Hough space by iteratively calling fastInterceptFinder2d. More...

#include <FastInterceptFinder2DFPGA.h>

Inheritance diagram for FastInterceptFinder2DFPGA:

Public Types
using	IOTypes = std::tuple< AIOTypes... >
	Types that should be served to apply on invokation.

using	IOVectors = std::tuple< std::vector< AIOTypes >... >
	Vector types that should be served to apply on invokation.

Public Member Functions
	FastInterceptFinder2DFPGA ()
	Find intercepts in the 2D Hough space.

void	exposeParameters (ModuleParamList *moduleParamList, const std::string &prefix) override
	Expose the parameters of the sub findlets.

void	initialize () override
	Create the store arrays.

void	apply (const std::vector< std::pair< VxdID, std::pair< long, long > > > &hits, std::vector< std::pair< double, double > > &tracks) override
	Load in the prepared hits and create tracks for extrapolation to PXD.

virtual std::string	getDescription ()
	Brief description of the purpose of the concret findlet.

virtual void	apply (ToVector< AIOTypes > &... ioVectors)=0
	Main function executing the algorithm.

void	beginRun () override
	Receive and dispatch signal for the beginning of a new run.

void	beginEvent () override
	Receive and dispatch signal for the start of a new event.

void	endRun () override
	Receive and dispatch signal for the end of the run.

void	terminate () override
	Receive and dispatch Signal for termination of the event processing.

Protected Types
using	ToVector = typename ToVectorImpl< T >::Type
	Short hand for ToRangeImpl.

Protected Member Functions
void	addProcessingSignalListener (ProcessingSignalListener *psl)
	Register a processing signal listener to be notified.

int	getNProcessingSignalListener ()
	Get the number of currently registered listeners.

Private Types
using	Super = TrackFindingCDC::Findlet< const std::pair< VxdID, std::pair< long, long > >, std::pair< double, double > >
	Parent class.

Private Member Functions
unsigned short	layerFilter (std::vector< bool > layer)
	Layer filter, checks if at least hits from 3 layers are in a set of hits.

void	fastInterceptFinder2d (const std::vector< std::pair< VxdID, std::pair< long, long > > > &hits, uint xmin, uint xmax, uint ymin, uint ymax, uint currentRecursion)
	find intercepts in the 2D Hough Space by recursively calling itself until no hits are assinged to a given Hough Space cell, or until the maximum number of recursions (m_maxRecursionLevel) is reached

void	FindHoughSpaceCluster ()
	Find Hough Space clusters.

void	DepthFirstSearch (uint lastIndexX, uint lastIndexY)
	Perform depth first search recursive algorithm to find clusters in the Hough Space.

void	gnuplotoutput (const std::vector< std::pair< VxdID, std::pair< long, long > > > &hits)
	gnuplot output for debugging

Private Attributes
bool	m_param_isUFinder = true
	Is this the intercept finder for the u-side hits (r-phi) or v-side (r-z)?

uint	m_param_maxRecursionLevel = 6
	maximum number of recursive calls of fastInterceptFinder2d

uint	m_param_nAngleSectors = 256
	number of sectors of the Hough Space on the horizontal axis

uint	m_param_nVerticalSectors = 256
	number of sectors of the Hough Space on the vertical axis

long	m_param_verticalHoughSpaceSize = convertFloatToInt(64, 6)
	vertical size of the Hough Space, defaults to the value for u-side

double	m_param_minimumX = -3.168
	minimum x value of the Hough Space, defaults to the value for u-side

double	m_param_maximumX = 3.168
	maximum x value of the Hough Space, defaults to the value for u-side

double	m_unitX = 0
	HS unit size in x.

double	m_unitY = 0
	HS unit size in y.

uint	m_param_MinimumHSClusterSize = 3
	minimum cluster size of sectors belonging to intercepts in the Hough Space

uint	m_param_MaximumHSClusterSize = 1000
	maximum cluster size of sectors belonging to intercepts in the Hough Space

uint	m_param_MaximumHSClusterSizeX = 1000
	maximum cluster size in x of sectors belonging to intercepts in the Hough Space

uint	m_param_MaximumHSClusterSizeY = 1000
	maximum cluster size in y of sectors belonging to intercepts in the Hough Space

std::array< long, 16385 >	m_HSSinValuesLUT = {0}
	Look-Up-Tables for values as cache to speed up calculation sine values of the Hough Space sector boarder coordinates.

std::array< long, 16385 >	m_HSCosValuesLUT = {0}
	cosine values of the Hough Space sector boarder coordinates

std::array< long, 16384 >	m_HSCenterSinValuesLUT = {0}
	sine values of the Hough Space sector center coordinates

std::array< long, 16384 >	m_HSCenterCosValuesLUT = {0}
	cosine values of the Hough Space sector center coordinates

std::array< long, 16385 >	m_HSYLUT = {0}
	y values of the Hough Space sector boarders

std::array< long, 16384 >	m_HSYCenterLUT = {0}
	y values of the Hough Space sector centers

std::array< double, 16385 >	m_HSXLUT = {0}
	x values of the Hough Space sector boarders

std::array< double, 16384 >	m_HSXCenterLUT = {0}
	x values of the Hough Space sector centers

std::vector< int >	m_SectorArray
	vector containing only the 1D representation of active cells to speed up processing

std::vector< std::pair< uint, uint > >	m_activeSectorArray
	vector containing information for each cell whether it contained enough hits after m_maxRecursionLevel to be "active".

uint	m_clusterCount = 0
	count the clusters

uint	m_clusterSize = 0
	size of the current cluster

bool	m_param_writeGnuplotOutput = false
	use gnuplot output?

std::string	m_param_gnuplotHSOutputFileName = "HSFPGA.plt"
	gnuplot HS output filename

std::string	m_param_gnuplotHSRectOutputFileName = "HSFPGARect.plt"
	gnuplot HS sector output filename

std::string	m_param_gnuplotHSCoGOutputFileName = "HSFPGACoG.plt"
	gnuplot HS sector output filename

std::ofstream	m_rectoutstream
	HS sector debug file.

std::ofstream	m_cogoutstream
	HS CoG debug file.

const std::string	m_const_rectColor [8] = {"blue", "cyan", "green", "yellow", "orange", "violet", "skyblue", "pink"}
	color definition for the sector debug output

uint	m_rectcounter = 1
	count HS debug rectangles

std::pair< int, int >	m_clusterInitialPosition = std::make_pair(0, 0)
	start cell of the recursive cluster finding in the Hough Space

std::pair< int, int >	m_clusterCoG = std::make_pair(0, 0)
	center of gravity containing describing the current best track parameters in the Hough Space

std::vector< std::pair< double, double > >	m_trackCandidates
	vector containing track candidates, consisting of the found intersection values in the Hough Space

std::vector< ProcessingSignalListener * >	m_subordinaryProcessingSignalListeners
	References to subordinary signal processing listener contained in this findlet.

bool	m_initialized = false
	Flag to keep track whether initialization happend before.

bool	m_terminated = false
	Flag to keep track whether termination happend before.

std::string	m_initializedAs
	Name of the type during initialisation.

Detailed Description

Findlet for finging intersections of sinosoidal curves in the 2D Hough space by iteratively calling fastInterceptFinder2d.

Definition at line 33 of file FastInterceptFinder2DFPGA.h.

Member Typedef Documentation

◆ IOTypes

using IOTypes = std::tuple<AIOTypes...>

inherited

Types that should be served to apply on invokation.

Definition at line 30 of file Findlet.h.

◆ IOVectors

using IOVectors = std::tuple< std::vector<AIOTypes>... >

inherited

Vector types that should be served to apply on invokation.

Definition at line 53 of file Findlet.h.

◆ Super

using Super = TrackFindingCDC::Findlet<const std::pair<VxdID, std::pair<long, long> >, std::pair<double, double> >

private

Parent class.

Definition at line 36 of file FastInterceptFinder2DFPGA.h.

◆ ToVector

using ToVector = typename ToVectorImpl<T>::Type

protectedinherited

Short hand for ToRangeImpl.

Definition at line 49 of file Findlet.h.

Constructor & Destructor Documentation

◆ FastInterceptFinder2DFPGA()

FastInterceptFinder2DFPGA ( )

Find intercepts in the 2D Hough space.

Definition at line 17 of file FastInterceptFinder2DFPGA.cc.

                                                     : Super()
{
}

Member Function Documentation

◆ addProcessingSignalListener()

void addProcessingSignalListener ( ProcessingSignalListener * psl )

protectedinherited

Register a processing signal listener to be notified.

Definition at line 55 of file CompositeProcessingSignalListener.cc.

{
  m_subordinaryProcessingSignalListeners.push_back(psl);
}

◆ apply()

void apply	(	const std::vector< std::pair< VxdID, std::pair< long, long > > > &	hits,
		std::vector< std::pair< double, double > > &	tracks
	)

override

Load in the prepared hits and create tracks for extrapolation to PXD.

Definition at line 113 of file FastInterceptFinder2DFPGA.cc.

{
  m_SectorArray.assign(m_param_nAngleSectors * m_param_nVerticalSectors, 0);
  m_activeSectorArray.clear();
  m_activeSectorArray.reserve(4096);
  m_trackCandidates.clear();
 
  if (m_param_writeGnuplotOutput) {
    m_rectcounter = 1;
    m_rectoutstream.open(m_param_gnuplotHSRectOutputFileName.c_str(), std::ios::trunc);
    m_cogoutstream.open(m_param_gnuplotHSCoGOutputFileName.c_str(), std::ios::trunc);
    gnuplotoutput(hits);
  }
 
  fastInterceptFinder2d(hits, 0, m_param_nAngleSectors, 0, m_param_nVerticalSectors, 0);
 
  FindHoughSpaceCluster();
 
  for (auto& trackCand : m_trackCandidates) {
    tracks.emplace_back(trackCand);
  }
 
  B2DEBUG(29, "m_activeSectorArray.size: " << m_activeSectorArray.size() << " m_trackCandidates.size: " << m_trackCandidates.size());
 
  if (m_param_writeGnuplotOutput) {
    m_rectoutstream.close();
    m_cogoutstream.close();
  }
 
}

◆ beginEvent()

void beginEvent ( )

overridevirtualinherited

Receive and dispatch signal for the start of a new event.

Reimplemented from ProcessingSignalListener.

Definition at line 31 of file CompositeProcessingSignalListener.cc.

{
  Super::beginEvent();
  for (ProcessingSignalListener* psl : m_subordinaryProcessingSignalListeners) {
    psl->beginEvent();
  }
}

◆ beginRun()

void beginRun ( )

overridevirtualinherited

Receive and dispatch signal for the beginning of a new run.

Reimplemented from ProcessingSignalListener.

Reimplemented in LayerRelationFilter< AFilter >, FourHitFilter, QualityIndicatorFilter, ThreeHitFilter, TwoHitVirtualIPFilter, TwoHitVirtualIPQIFilter, RecoTrackStorer, ROIFinder, SpacePointLoaderAndPreparer, and TrackCandidateResultRefiner.

Definition at line 23 of file CompositeProcessingSignalListener.cc.

{
  Super::beginRun();
  for (ProcessingSignalListener* psl : m_subordinaryProcessingSignalListeners) {
    psl->beginRun();
  }
}

◆ DepthFirstSearch()

void DepthFirstSearch	(	uint	lastIndexX,
		uint	lastIndexY
	)

private

Perform depth first search recursive algorithm to find clusters in the Hough Space.

Parameters

lastIndexX	x-index of the last cell checked
lastIndexY	y-index of the last cell checked

Definition at line 316 of file FastInterceptFinder2DFPGA.cc.

{
  if (m_clusterSize >= m_param_MaximumHSClusterSize) return;
 
  for (uint currentIndexY = lastIndexY; currentIndexY >= lastIndexY - 1; currentIndexY--) {
    if (abs((int)m_clusterInitialPosition.second - (int)currentIndexY) >= m_param_MaximumHSClusterSizeY or
        m_clusterSize >= m_param_MaximumHSClusterSize or currentIndexY > m_param_nVerticalSectors) return;
    for (uint currentIndexX = lastIndexX; currentIndexX <= lastIndexX + 1; currentIndexX++) {
      if (abs((int)m_clusterInitialPosition.first - (int)currentIndexX) >= m_param_MaximumHSClusterSizeX or
          m_clusterSize >= m_param_MaximumHSClusterSize or currentIndexX > m_param_nAngleSectors) return;
 
      // The cell (currentIndexX, currentIndexY) is the current one has already been checked, so continue
      if (lastIndexX == currentIndexX && lastIndexY == currentIndexY) continue;
 
      // first check bounds to avoid out-of-bound array access
      // as they are uints, they are always >= 0, and in case of an overflow they would be too large
      if (currentIndexX < m_param_nAngleSectors and currentIndexY < m_param_nVerticalSectors) {
 
        if (m_SectorArray[currentIndexY * m_param_nAngleSectors + currentIndexX] < 0 /*and m_clusterSize < m_MaximumHSClusterSize*/) {
          // Only continue searching if the current cluster is smaller than the maximum cluster size
          m_SectorArray[currentIndexY * m_param_nAngleSectors + currentIndexX] = m_clusterCount;
          m_clusterCoG = std::make_pair(m_clusterCoG.first + currentIndexX, m_clusterCoG.second + currentIndexY);
          m_clusterSize++;
          // search in the next Hough Space cells...
          DepthFirstSearch(currentIndexX, currentIndexY);
        }
 
      }
    }
  }
}

◆ endRun()

void endRun ( )

overridevirtualinherited

Receive and dispatch signal for the end of the run.

Reimplemented from ProcessingSignalListener.

Definition at line 39 of file CompositeProcessingSignalListener.cc.

{
  for (ProcessingSignalListener* psl : reversedRange(m_subordinaryProcessingSignalListeners)) {
    psl->endRun();
  }
  Super::endRun();
}

◆ exposeParameters()

void exposeParameters	(	ModuleParamList *	moduleParamList,
		const std::string &	prefix
	)

overridevirtual

Expose the parameters of the sub findlets.

Reimplemented from Findlet< const std::pair< VxdID, std::pair< long, long > >, std::pair< double, double > >.

Definition at line 21 of file FastInterceptFinder2DFPGA.cc.

{
  Super::exposeParameters(moduleParamList, prefix);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "isUFinder"), m_param_isUFinder,
                                "Intercept finder for u-side or v-side?", m_param_isUFinder);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "writeGnuplotOutput"), m_param_writeGnuplotOutput,
                                "Write gnuplot debugging output to file?", m_param_writeGnuplotOutput);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "gnuplotHSOutputFileName"), m_param_gnuplotHSOutputFileName,
                                "Name of the gnuplot debug file.", m_param_gnuplotHSOutputFileName);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "gnuplotHSRectOutputFileName"), m_param_gnuplotHSRectOutputFileName,
                                "Name of the gnuplot debug HS sectors file.", m_param_gnuplotHSRectOutputFileName);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "gnuplotHSCoGOutputFileName"), m_param_gnuplotHSCoGOutputFileName,
                                "Name of the gnuplot debug cluster CoG file.", m_param_gnuplotHSCoGOutputFileName);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "maximumRecursionLevel"), m_param_maxRecursionLevel,
                                "Maximum recursion level for the fast Hough trafo algorithm.", m_param_maxRecursionLevel);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "nAngleSectors"), m_param_nAngleSectors,
                                "Number of angle sectors (= x-axis) dividing the Hough space.", m_param_nAngleSectors);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "nVerticalSectors"), m_param_nVerticalSectors,
                                "Number of vertical sectors (= y-axis) dividing the Hough space.", m_param_nVerticalSectors);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "verticalHoughSpaceSize"), m_param_verticalHoughSpaceSize,
                                "Vertical size of the Hough space. Data type: long", m_param_verticalHoughSpaceSize);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "minimumX"), m_param_minimumX,
                                "Minimum x value of the Hough space.", m_param_minimumX);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "maximumX"), m_param_maximumX,
                                "Maximum x value of the Hough space.", m_param_maximumX);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "minimumHSClusterSize"), m_param_MinimumHSClusterSize,
                                "Minimum size of the Hough Space clusters.", m_param_MinimumHSClusterSize);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "maximumHSClusterSize"), m_param_MaximumHSClusterSize,
                                "Maximum size of the Hough Space clusters.", m_param_MaximumHSClusterSize);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "maximumHSClusterSizeX"), m_param_MaximumHSClusterSizeX,
                                "Maximum size of the Hough Space clusters in horizontal direction.", m_param_MaximumHSClusterSizeX);
 
  moduleParamList->addParameter(TrackFindingCDC::prefixed(prefix, "maximumHSClusterSizeY"), m_param_MaximumHSClusterSizeY,
                                "Maximum size of the Hough Space clusters in vertical direction.", m_param_MaximumHSClusterSizeY);
 
}

◆ fastInterceptFinder2d()

void fastInterceptFinder2d	(	const std::vector< std::pair< VxdID, std::pair< long, long > > > &	hits,
		uint	xmin,
		uint	xmax,
		uint	ymin,
		uint	ymax,
		uint	currentRecursion
	)

private

find intercepts in the 2D Hough Space by recursively calling itself until no hits are assinged to a given Hough Space cell, or until the maximum number of recursions (m_maxRecursionLevel) is reached

Parameters

hits	vector containing the hits that are used for track finding
xmin	minimum x-index of the sub-Hough Space in the current recursion step
xmax	maximum x-index of the sub-Hough Space in the current recursion step
ymin	minimum y-index of the sub-Hough Space in the current recursion step
ymax	maximum y-index of the sub-Hough Space in the current recursion step
currentRecursion	current recursion step, has to be < m_maxRecursionLevel

Definition at line 145 of file FastInterceptFinder2DFPGA.cc.

{
  std::vector<std::pair<VxdID, std::pair<long, long>>> containedHits;
 
  if (currentRecursion == m_param_maxRecursionLevel + 1) return;
 
  // these int-divisions can cause {min, center} or {center, max} to be the same, which is a desired behaviour
  const uint centerx = xmin + (uint)((xmax - xmin) / 2);
  const uint centery = ymin + (uint)((ymax - ymin) / 2);
  const uint xIndexCache[3] = {xmin, centerx, xmax};
  const uint yIndexCache[3] = {ymin, centery, ymax};
 
  for (int i = 0; i < 2 ; ++i) {
    const uint left  = xIndexCache[i];
    const uint right = xIndexCache[i + 1];
    const uint localIndexX = left;
 
    if (left == right) continue;
 
    const double& localLeft   = m_HSXLUT[left];
    const double& localRight  = m_HSXLUT[right];
    const short&  sinLeft     = m_HSSinValuesLUT[left];
    const short&  cosLeft     = m_HSCosValuesLUT[left];
    const short&  sinRight    = m_HSSinValuesLUT[right];
    const short&  cosRight    = m_HSCosValuesLUT[right];
 
    // the sin and cos of the current center can't be stored in a LUT, as the number of possible centers
    // is quite large and the logic would become rather complex
    const short&  sinCenter   = m_HSCenterSinValuesLUT[(left + right) / 2];
    const short&  cosCenter   = m_HSCenterCosValuesLUT[(left + right) / 2];
 
    for (int j = 0; j < 2; ++j) {
 
      const uint lowerIndex = yIndexCache[j];
      const uint upperIndex = yIndexCache[j + 1];
 
      const uint localIndexY = lowerIndex;
      const long& localUpperCoordinate = m_HSYLUT[lowerIndex];
      const long& localLowerCoordinate = m_HSYLUT[upperIndex];
 
      if (lowerIndex == upperIndex) continue;
 
      std::vector<bool> layerHits(7); /* For layer filter */
      containedHits.clear();
      for (auto& hit : hits) {
        const VxdID& sensor = hit.first;
 
        const long& m = hit.second.first;
        const long& a = hit.second.second;
 
        long yLeft   = m * cosLeft   + a * sinLeft;
        long yRight  = m * cosRight  + a * sinRight;
        long yCenter = m * cosCenter + a * sinCenter;
        long derivativeyLeft   = m * -sinLeft   + a * cosLeft;
        long derivativeyRight  = m * -sinRight  + a * cosRight;
        long derivativeyCenter = m * -sinCenter + a * cosCenter;
 
        // Only interested in the rising arm of the sinosoidal curves.
        // Thus if derivative on both sides of the cell is negative, ignore and continue.
        if (derivativeyLeft < 0 and derivativeyRight < 0 and derivativeyCenter < 0) continue;
 
        /* Check if HS-parameter curve is inside (or outside) actual sub-HS */
        if ((yLeft <= localUpperCoordinate and yRight >= localLowerCoordinate) or
            (yCenter <= localUpperCoordinate and yLeft >= localLowerCoordinate and yRight >= localLowerCoordinate) or
            (yCenter >= localLowerCoordinate and yLeft <= localUpperCoordinate and yRight <= localUpperCoordinate)) {
          layerHits[sensor.getLayerNumber()] = true; /* layer filter */
          containedHits.emplace_back(hit);
        }
      }
 
      if (layerFilter(layerHits) > 0) {
        // recursive call of fastInterceptFinder2d, until currentRecursion == m_maxRecursionLevel
        if (currentRecursion < m_param_maxRecursionLevel) {
 
          if (m_param_writeGnuplotOutput) {
            m_rectoutstream << "set object " << m_rectcounter << " rect from " << localLeft << ", " << localLowerCoordinate <<
                            " to " << localRight << ", " << localUpperCoordinate << " fc rgb \"" <<
                            m_const_rectColor[currentRecursion % 8] << "\" fs solid 0.5 behind" << std::endl;
            m_rectcounter++;
          }
 
          fastInterceptFinder2d(containedHits, left, right, lowerIndex, upperIndex, currentRecursion + 1);
 
        } else {
          m_SectorArray[localIndexY * m_param_nAngleSectors + localIndexX] = -layerFilter(layerHits);
          m_activeSectorArray.push_back(std::make_pair(localIndexX, localIndexY));
 
          if (m_param_writeGnuplotOutput) {
            m_rectoutstream << "set object " << m_rectcounter << " rect from " << localLeft << ", " << localLowerCoordinate <<
                            " to " << localRight << ", " << localUpperCoordinate << " fc rgb \"" <<
                            m_const_rectColor[currentRecursion % 8] << "\" fs solid 0.5 behind" << std::endl;
            m_rectcounter++;
          }
 
        }
      }
    }
  }
}

◆ FindHoughSpaceCluster()

void FindHoughSpaceCluster ( )

private

Find Hough Space clusters.

Looop over all found sectors in m_SectorArray and then calls the DepthFirstSearch function to recursively find the clusters

Definition at line 246 of file FastInterceptFinder2DFPGA.cc.

{
  // cell content meanings:
  // -3, -4  : active sector, not yet visited
  // 0       : non-active sector (will never be visited, only checked)
  // 1,2,3...: index of the clusters
 
  m_clusterCount = 1;
 
  // this sorting makes sure the clusters can be searched from bottom left of the HS to top right
  // normally, a C++ array looks like a matrix:
  // (0   , 0) ... (maxX, 0   )
  //    ...            ...
  // (0, maxY) ... (maxX, maxY)
  // but for sorting we want it to be like regular coordinates
  // (0, maxY) ... (maxX, maxY)
  //    ...            ...
  // (0, 0   ) ... (maxX, 0   )
  // By setting the offset to the maximum allowed number of cells (2^14) and simplifying
  // (16384 - a.second) * 16384 + a.first < (16384 - b.second) * 16384 + b.first
  // we get the formula below
  auto sortSectors = [](const std::pair<uint, uint> a, const std::pair<uint, uint> b) {
    return ((int)b.second - (int)a.second) * 16384 < (int)b.first - (int)a.first;
  };
  std::sort(m_activeSectorArray.begin(), m_activeSectorArray.end(), sortSectors);
 
  for (const auto& currentCell : m_activeSectorArray) {
    const uint currentIndex = currentCell.second * m_param_nAngleSectors + currentCell.first;
    if (m_SectorArray[currentIndex] > -1) continue;
 
    m_clusterInitialPosition = currentCell;
    m_clusterCoG = currentCell;
    m_clusterSize = 1;
    m_SectorArray[currentIndex] = m_clusterCount;
    // Check for HS sectors connected to each other which could form a cluster
    DepthFirstSearch(currentCell.first, currentCell.second);
    // if cluster valid (i.e. not too small and not too big): finalize!
    if (m_clusterSize >= m_param_MinimumHSClusterSize and m_clusterSize <= m_param_MaximumHSClusterSize) {
      double CoGX = (((double)m_clusterCoG.first / (double)m_clusterSize) + 0.5) * m_unitX + m_param_minimumX;
      if (not m_param_isUFinder) {
        CoGX = atan(tan(m_param_minimumX) + m_unitX * (((double)m_clusterCoG.first / (double)m_clusterSize) + 0.5));
      }
      double CoGY = m_param_verticalHoughSpaceSize - ((double)m_clusterCoG.second / (double)m_clusterSize - 0.5) * m_unitY;
 
      if (m_param_isUFinder) {
        // Angle from Hough space only yields phi-pi/2, so adjust for this and make sure phi still is in -pi...+pi
        double trackPhi = CoGX + M_PI_2;
        if (trackPhi < -M_PI) trackPhi += 2 * M_PI;
        if (trackPhi >  M_PI) trackPhi -= 2 * M_PI;
 
        // 1./CoGY * 1e10 yields trackRadius in mm. To convert to µm, which all other values are in,
        // multiplication by another 1e3 is required -> total of 1e13
        double trackRadius = 1. / CoGY * 1e+13;
 
        m_trackCandidates.emplace_back(std::make_pair(trackPhi, trackRadius));
      } else {
        m_trackCandidates.emplace_back(std::make_pair(CoGX, CoGY));
      }
      B2DEBUG(29, "m_clusterCoG.first: " << m_clusterCoG.first << " " << ((double)m_clusterCoG.first / (double)m_clusterSize) <<
              " m_clusterCoG.second: " << m_clusterCoG.second << " " << ((double)m_clusterCoG.second / (double)m_clusterSize) <<
              " CoGX: " << CoGX << " CoGY: " << CoGY);
 
      if (m_param_writeGnuplotOutput) {
        m_cogoutstream << CoGX << " " << CoGY << std::endl;
      }
    }
    m_clusterCount++;
  }
}

◆ getDescription()

virtual std::string getDescription ( )

inlinevirtualinherited

Brief description of the purpose of the concret findlet.

Definition at line 60 of file Findlet.h.

      {
        return "(no description)";
      }

◆ getNProcessingSignalListener()

int getNProcessingSignalListener ( )

protectedinherited

Get the number of currently registered listeners.

Definition at line 60 of file CompositeProcessingSignalListener.cc.

{
  return m_subordinaryProcessingSignalListeners.size();
}

◆ gnuplotoutput()

void gnuplotoutput ( const std::vector< std::pair< VxdID, std::pair< long, long > > > & hits )

private

gnuplot output for debugging

Definition at line 348 of file FastInterceptFinder2DFPGA.cc.

{
  std::ofstream hsoutstream;
  hsoutstream.open(m_param_gnuplotHSOutputFileName.c_str(), std::ios::trunc);
 
  hsoutstream << "set pointsize 1.5\nset style line 42 lc rgb '#0060ad' pt 7   # circle" << std::endl;
 
  hsoutstream << "set style line 80 lt rgb \"#808080\"" << std::endl;
  hsoutstream << "set style line 81 lt 0" << std::endl;
  hsoutstream << "set style line 81 lt rgb \"#808080\"" << std::endl << std::endl;
 
  hsoutstream << "set style line 1 lt rgb \"#A00000\" lw 1 pt 1" << std::endl;
  hsoutstream << "set style line 2 lt rgb \"#00A000\" lw 1 pt 6" << std::endl;
  hsoutstream << "set style line 3 lt rgb \"#000000\" lw 1 pt 6" << std::endl;
 
  hsoutstream << "set style line 3 lt rgb 'black' lw 1 pt 6" << std::endl;
  hsoutstream << "set style line 4 lt rgb 'blue' lw 1 pt 6" << std::endl;
  hsoutstream << "set style line 5 lt rgb 'green' lw 1 pt 6" << std::endl;
  hsoutstream << "set style line 6 lt rgb 'red' lw 1 pt 6" << std::endl;
 
  hsoutstream << "# Description position\nset key top right" << std::endl << std::endl;
  hsoutstream << "# Grid and border style\nset grid back linestyle 81\nset border 3 back linestyle 80" << std::endl << std::endl;
 
  hsoutstream << "# No mirrors\nset xtics nomirror\nset ytics nomirror" << std::endl << std::endl;
  hsoutstream << "# Encoding\nset encoding utf8" << std::endl << std::endl;
  hsoutstream << "set xlabel \"x\"\nset ylabel \"y\"" << std::endl << std::endl;
 
  hsoutstream << "set xrange [-pi-0.5:pi+0.5]" << std::endl << std::endl;
 
  hsoutstream << "load '" << m_param_gnuplotHSRectOutputFileName << "'" << std::endl << std::endl;
 
  uint count = 0;
  for (auto& hit : hits) {
    const VxdID& id = hit.first;
    int layer = id.getLayerNumber();
    // Multiplication with 1000 is necessary, as in the actual intercept finding step, cos and sin are multiplied by 1000, too.
    // To directly compare the information in the gnuplot HoughSpace, just multiply by 1000 here instead of adding another
    // '1000 * ' when writing to the gnuplot debug file.
    const long xc = 1000 * hit.second.first;
    const long yc = 1000 * hit.second.second;
 
    // only plot when derivative is positive
    hsoutstream << "plot " << xc << " * -sin(x) + " << yc << " * cos(x) > 0 ? " << xc << " * cos(x) + " << yc <<
                " * sin(x) : 1/0 notitle linestyle " << layer << " # " << id << std::endl;
    if (count < hits.size() - 1) hsoutstream << "re";
    count++;
  }
 
  hsoutstream << std::endl;
  hsoutstream << "replot '" << m_param_gnuplotHSCoGOutputFileName << "' u 1:2 w p ls 42 notitle" << std::endl << std::endl;
  hsoutstream << "pause -1" << std::endl;
  hsoutstream.close();
}

◆ initialize()

void initialize ( )

overridevirtual

Create the store arrays.

Reimplemented from ProcessingSignalListener.

Definition at line 72 of file FastInterceptFinder2DFPGA.cc.

{
  Super::initialize();
 
  m_param_maxRecursionLevel = ceil(log2(std::max(m_param_nAngleSectors, m_param_nVerticalSectors))) - 1;
  B2ASSERT("The maximum number of currentRecursion in u must not be larger than 14, but it is " << m_param_maxRecursionLevel,
           m_param_maxRecursionLevel <= 14);
  m_unitX = (m_param_maximumX - m_param_minimumX) / m_param_nAngleSectors;
  // If Hough trafo for theta, divide Hough space not linear in theta, but linear in tan(theta).
  // This leads to smaller HS sectors in the forward and backward regions, but an even distributions of extrapolated PXD hits.
  if (not m_param_isUFinder) {
    m_unitX = (tan(m_param_maximumX) - tan(m_param_minimumX)) / m_param_nAngleSectors;
  }
  for (uint i = 0; i < m_param_nAngleSectors; i++) {
    double x = m_param_minimumX + m_unitX * (double)i;
    double xc = x + 0.5 * m_unitX;
    if (not m_param_isUFinder) {
      x = atan(tan(m_param_minimumX) + m_unitX * i);
      xc = atan(tan(m_param_minimumX) + m_unitX * ((double)i + 0.5));
    }
 
    m_HSXLUT[i] = x;
    m_HSSinValuesLUT[i] = convertFloatToInt(sin(x), 3);
    m_HSCosValuesLUT[i] = convertFloatToInt(cos(x), 3);
    m_HSCenterSinValuesLUT[i] = convertFloatToInt(sin(xc), 3);
    m_HSCenterCosValuesLUT[i] = convertFloatToInt(cos(xc), 3);
    m_HSXCenterLUT[i] = xc;
  }
  m_HSXLUT[m_param_nAngleSectors] = m_param_maximumX;
  m_HSSinValuesLUT[m_param_nAngleSectors] = convertFloatToInt(sin(m_param_maximumX), 3);
  m_HSCosValuesLUT[m_param_nAngleSectors] = convertFloatToInt(cos(m_param_maximumX), 3);
 
  m_unitY = 2. * m_param_verticalHoughSpaceSize / m_param_nVerticalSectors;
  for (uint i = 0; i <= m_param_nVerticalSectors; i++) {
    m_HSYLUT[i] = m_param_verticalHoughSpaceSize - m_unitY * i;
    m_HSYCenterLUT[i] = m_param_verticalHoughSpaceSize - m_unitY * i - 0.5 * m_unitY;
  }
  B2DEBUG(29, "HS size x: " << (m_param_maximumX - m_param_minimumX) << " HS size y: " << m_param_verticalHoughSpaceSize <<
          " unitX: " << m_unitX << " unitY: " << m_unitY);
}

◆ layerFilter()

unsigned short layerFilter ( std::vector< bool > layer )

inlineprivate

Layer filter, checks if at least hits from 3 layers are in a set of hits.

Parameters

layer bool-vector containing information whether there is a hit in a layer

Definition at line 56 of file FastInterceptFinder2DFPGA.h.

    {
      uint layercount = std::count(layer.begin(), layer.end(), true);
      return (layercount >= 3 ? layercount : 0);
    }

◆ terminate()

void terminate ( )

overridevirtualinherited

Receive and dispatch Signal for termination of the event processing.

Reimplemented from ProcessingSignalListener.

Reimplemented in StereoHitTrackQuadTreeMatcher< Belle2::TrackFindingCDC::HyperHough >, StereoHitTrackQuadTreeMatcher< Belle2::TrackFindingCDC::QuadraticLegendre >, and StereoHitTrackQuadTreeMatcher< Belle2::TrackFindingCDC::Z0TanLambdaLegendre >.

Definition at line 47 of file CompositeProcessingSignalListener.cc.

{
  for (ProcessingSignalListener* psl : reversedRange(m_subordinaryProcessingSignalListeners)) {
    psl->terminate();
  }
  Super::terminate();
}

Member Data Documentation

◆ m_activeSectorArray

std::vector<std::pair<uint, uint> > m_activeSectorArray

private

vector containing information for each cell whether it contained enough hits after m_maxRecursionLevel to be "active".

The value will be (- number of hits) for an active cell after fastInterceptFinder2d or 0 for an inactive cell, The value will be positive with the cluster number assigned to it after cluster finding

Definition at line 144 of file FastInterceptFinder2DFPGA.h.

◆ m_clusterCoG

std::pair<int, int> m_clusterCoG = std::make_pair(0, 0)

private

center of gravity containing describing the current best track parameters in the Hough Space

Definition at line 171 of file FastInterceptFinder2DFPGA.h.

◆ m_clusterCount

uint m_clusterCount = 0

private

count the clusters

Definition at line 147 of file FastInterceptFinder2DFPGA.h.

◆ m_clusterInitialPosition

std::pair<int, int> m_clusterInitialPosition = std::make_pair(0, 0)

private

start cell of the recursive cluster finding in the Hough Space

Definition at line 169 of file FastInterceptFinder2DFPGA.h.

◆ m_clusterSize

uint m_clusterSize = 0

private

size of the current cluster

Definition at line 149 of file FastInterceptFinder2DFPGA.h.

◆ m_cogoutstream

std::ofstream m_cogoutstream

private

HS CoG debug file.

Definition at line 162 of file FastInterceptFinder2DFPGA.h.

◆ m_const_rectColor

const std::string m_const_rectColor[8] = {"blue", "cyan", "green", "yellow", "orange", "violet", "skyblue", "pink"}

private

color definition for the sector debug output

Definition at line 164 of file FastInterceptFinder2DFPGA.h.

◆ m_HSCenterCosValuesLUT

std::array<long, 16384> m_HSCenterCosValuesLUT = {0}

private

cosine values of the Hough Space sector center coordinates

Definition at line 128 of file FastInterceptFinder2DFPGA.h.

◆ m_HSCenterSinValuesLUT

std::array<long, 16384> m_HSCenterSinValuesLUT = {0}

private

sine values of the Hough Space sector center coordinates

Definition at line 126 of file FastInterceptFinder2DFPGA.h.

◆ m_HSCosValuesLUT

std::array<long, 16385> m_HSCosValuesLUT = {0}

private

cosine values of the Hough Space sector boarder coordinates

Definition at line 124 of file FastInterceptFinder2DFPGA.h.

◆ m_HSSinValuesLUT

std::array<long, 16385> m_HSSinValuesLUT = {0}

private

Look-Up-Tables for values as cache to speed up calculation sine values of the Hough Space sector boarder coordinates.

Definition at line 122 of file FastInterceptFinder2DFPGA.h.

◆ m_HSXCenterLUT

std::array<double, 16384> m_HSXCenterLUT = {0}

private

x values of the Hough Space sector centers

Definition at line 136 of file FastInterceptFinder2DFPGA.h.

◆ m_HSXLUT

std::array<double, 16385> m_HSXLUT = {0}

private

x values of the Hough Space sector boarders

Definition at line 134 of file FastInterceptFinder2DFPGA.h.

◆ m_HSYCenterLUT

std::array<long, 16384> m_HSYCenterLUT = {0}

private

y values of the Hough Space sector centers

Definition at line 132 of file FastInterceptFinder2DFPGA.h.

◆ m_HSYLUT

std::array<long, 16385> m_HSYLUT = {0}

private

y values of the Hough Space sector boarders

Definition at line 130 of file FastInterceptFinder2DFPGA.h.

◆ m_initialized

bool m_initialized = false

privateinherited

Flag to keep track whether initialization happend before.

Definition at line 52 of file ProcessingSignalListener.h.

◆ m_initializedAs

std::string m_initializedAs

privateinherited

Name of the type during initialisation.

Definition at line 58 of file ProcessingSignalListener.h.

◆ m_param_gnuplotHSCoGOutputFileName

std::string m_param_gnuplotHSCoGOutputFileName = "HSFPGACoG.plt"

private

gnuplot HS sector output filename

Definition at line 158 of file FastInterceptFinder2DFPGA.h.

◆ m_param_gnuplotHSOutputFileName

std::string m_param_gnuplotHSOutputFileName = "HSFPGA.plt"

private

gnuplot HS output filename

Definition at line 154 of file FastInterceptFinder2DFPGA.h.

◆ m_param_gnuplotHSRectOutputFileName

std::string m_param_gnuplotHSRectOutputFileName = "HSFPGARect.plt"

private

gnuplot HS sector output filename

Definition at line 156 of file FastInterceptFinder2DFPGA.h.

◆ m_param_isUFinder

bool m_param_isUFinder = true

private

Is this the intercept finder for the u-side hits (r-phi) or v-side (r-z)?

Definition at line 87 of file FastInterceptFinder2DFPGA.h.

◆ m_param_MaximumHSClusterSize

uint m_param_MaximumHSClusterSize = 1000

private

maximum cluster size of sectors belonging to intercepts in the Hough Space

Definition at line 114 of file FastInterceptFinder2DFPGA.h.

◆ m_param_MaximumHSClusterSizeX

uint m_param_MaximumHSClusterSizeX = 1000

private

maximum cluster size in x of sectors belonging to intercepts in the Hough Space

Definition at line 116 of file FastInterceptFinder2DFPGA.h.

◆ m_param_MaximumHSClusterSizeY

uint m_param_MaximumHSClusterSizeY = 1000

private

maximum cluster size in y of sectors belonging to intercepts in the Hough Space

Definition at line 118 of file FastInterceptFinder2DFPGA.h.

◆ m_param_maximumX

double m_param_maximumX = 3.168

private

maximum x value of the Hough Space, defaults to the value for u-side

Definition at line 104 of file FastInterceptFinder2DFPGA.h.

◆ m_param_maxRecursionLevel

uint m_param_maxRecursionLevel = 6

private

maximum number of recursive calls of fastInterceptFinder2d

Definition at line 90 of file FastInterceptFinder2DFPGA.h.

◆ m_param_MinimumHSClusterSize

uint m_param_MinimumHSClusterSize = 3

private

minimum cluster size of sectors belonging to intercepts in the Hough Space

Definition at line 112 of file FastInterceptFinder2DFPGA.h.

◆ m_param_minimumX

double m_param_minimumX = -3.168

private

minimum x value of the Hough Space, defaults to the value for u-side

Definition at line 102 of file FastInterceptFinder2DFPGA.h.

◆ m_param_nAngleSectors

uint m_param_nAngleSectors = 256

private

number of sectors of the Hough Space on the horizontal axis

Definition at line 93 of file FastInterceptFinder2DFPGA.h.

◆ m_param_nVerticalSectors

uint m_param_nVerticalSectors = 256

private

number of sectors of the Hough Space on the vertical axis

Definition at line 96 of file FastInterceptFinder2DFPGA.h.

◆ m_param_verticalHoughSpaceSize

long m_param_verticalHoughSpaceSize = convertFloatToInt(64, 6)

private

vertical size of the Hough Space, defaults to the value for u-side

Definition at line 99 of file FastInterceptFinder2DFPGA.h.

◆ m_param_writeGnuplotOutput

bool m_param_writeGnuplotOutput = false

private

use gnuplot output?

Definition at line 152 of file FastInterceptFinder2DFPGA.h.

◆ m_rectcounter

uint m_rectcounter = 1

private

count HS debug rectangles

Definition at line 166 of file FastInterceptFinder2DFPGA.h.

◆ m_rectoutstream

std::ofstream m_rectoutstream

private

HS sector debug file.

Definition at line 160 of file FastInterceptFinder2DFPGA.h.

◆ m_SectorArray

std::vector<int> m_SectorArray

private

vector containing only the 1D representation of active cells to speed up processing

Definition at line 139 of file FastInterceptFinder2DFPGA.h.

◆ m_subordinaryProcessingSignalListeners

std::vector<ProcessingSignalListener*> m_subordinaryProcessingSignalListeners

privateinherited

References to subordinary signal processing listener contained in this findlet.

Definition at line 52 of file CompositeProcessingSignalListener.h.

◆ m_terminated

bool m_terminated = false

privateinherited

Flag to keep track whether termination happend before.

Definition at line 55 of file ProcessingSignalListener.h.

◆ m_trackCandidates

std::vector<std::pair<double, double> > m_trackCandidates

private

vector containing track candidates, consisting of the found intersection values in the Hough Space

Definition at line 174 of file FastInterceptFinder2DFPGA.h.

◆ m_unitX

double m_unitX = 0

private

HS unit size in x.

Definition at line 107 of file FastInterceptFinder2DFPGA.h.

◆ m_unitY

double m_unitY = 0

private

HS unit size in y.

Definition at line 109 of file FastInterceptFinder2DFPGA.h.

The documentation for this class was generated from the following files:

tracking/datcon/findlets/include/FastInterceptFinder2DFPGA.h
tracking/datcon/findlets/src/FastInterceptFinder2DFPGA.cc

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ IOTypes

◆ IOVectors

◆ Super

◆ ToVector

Constructor & Destructor Documentation

◆ FastInterceptFinder2DFPGA()

Member Function Documentation

◆ addProcessingSignalListener()

◆ apply()

◆ beginEvent()

◆ beginRun()

◆ DepthFirstSearch()

◆ endRun()

◆ exposeParameters()

◆ fastInterceptFinder2d()

◆ FindHoughSpaceCluster()

◆ getDescription()

◆ getNProcessingSignalListener()

◆ gnuplotoutput()

◆ initialize()

◆ layerFilter()

◆ terminate()

Member Data Documentation

◆ m_activeSectorArray

◆ m_clusterCoG

◆ m_clusterCount

◆ m_clusterInitialPosition

◆ m_clusterSize

◆ m_cogoutstream

◆ m_const_rectColor

◆ m_HSCenterCosValuesLUT

◆ m_HSCenterSinValuesLUT

◆ m_HSCosValuesLUT

◆ m_HSSinValuesLUT

◆ m_HSXCenterLUT

◆ m_HSXLUT

◆ m_HSYCenterLUT

◆ m_HSYLUT

◆ m_initialized

◆ m_initializedAs

◆ m_param_gnuplotHSCoGOutputFileName

◆ m_param_gnuplotHSOutputFileName

◆ m_param_gnuplotHSRectOutputFileName

◆ m_param_isUFinder

◆ m_param_MaximumHSClusterSize

◆ m_param_MaximumHSClusterSizeX

◆ m_param_MaximumHSClusterSizeY

◆ m_param_maximumX

◆ m_param_maxRecursionLevel

◆ m_param_MinimumHSClusterSize

◆ m_param_minimumX

◆ m_param_nAngleSectors

◆ m_param_nVerticalSectors

◆ m_param_verticalHoughSpaceSize

◆ m_param_writeGnuplotOutput

◆ m_rectcounter

◆ m_rectoutstream

◆ m_SectorArray

◆ m_subordinaryProcessingSignalListeners

◆ m_terminated

◆ m_trackCandidates

◆ m_unitX

◆ m_unitY