From 803323c3accf757aa6efa1c324050bcef88860b1 Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Mon, 15 Apr 2024 15:26:10 +0200 Subject: [PATCH 1/8] refactor CKF branch stopper to allow stop and keep tracks --- .../CombinatorialKalmanFilter.hpp | 38 +++++++++++++------ 1 file changed, 26 insertions(+), 12 deletions(-) diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp index 7c0404ffa62..c5073856f9b 100644 --- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp +++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp @@ -73,14 +73,21 @@ struct CombinatorialKalmanFilterExtensions { using candidate_container_t = typename std::vector; + enum class BranchStopperResult { + Continue, + StopAndDrop, + StopAndKeep, + }; + using Calibrator = typename KalmanFitterExtensions::Calibrator; using Updater = typename KalmanFitterExtensions::Updater; using MeasurementSelector = Delegate>( candidate_container_t& trackStates, bool&, const Logger&)>; - using BranchStopper = Delegate; + using BranchStopper = + Delegate; /// The Calibrator is a dedicated calibration algorithm that allows to /// calibrate measurements using track information, this could be e.g. sagging @@ -118,12 +125,12 @@ struct CombinatorialKalmanFilterExtensions { /// @param tipState The tip state to decide whether to stop (unused) /// @param trackState The track state to decide whether to stop (unused) /// @return false - static bool voidBranchStopper( + static BranchStopperResult voidBranchStopper( const CombinatorialKalmanFilterTipState& tipState, typename traj_t::TrackStateProxy& trackState) { (void)tipState; (void)trackState; - return false; + return BranchStopperResult::Continue; } }; @@ -695,13 +702,23 @@ class CombinatorialKalmanFilter { auto nonSourcelinkState = result.fittedStates->getTrackState(currentTip); + using BranchStopperResult = + typename CombinatorialKalmanFilterExtensions< + traj_t>::BranchStopperResult; + BranchStopperResult branchStopperResult = + m_extensions.branchStopper(tipState, nonSourcelinkState); + // Check the branch - if (!m_extensions.branchStopper(tipState, nonSourcelinkState)) { + if (branchStopperResult == BranchStopperResult::Continue) { // Remember the active tip and its state result.activeTips.emplace_back(currentTip, tipState); } else { // No branch on this surface nBranchesOnSurface = 0; + + if (branchStopperResult == BranchStopperResult::StopAndKeep) { + result.lastMeasurementIndices.emplace_back(currentTip); + } } } @@ -905,13 +922,10 @@ class CombinatorialKalmanFilter { tipState.nMeasurements++; } - // Check if need to stop this branch - if (!m_extensions.branchStopper(tipState, trackState)) { - // Put tipstate back into active tips to continue with it - result.activeTips.emplace_back(currentTip, tipState); - // Record the number of branches on surface - nBranchesOnSurface++; - } + // Put tipstate back into active tips to continue with it + result.activeTips.emplace_back(currentTip, tipState); + // Record the number of branches on surface + nBranchesOnSurface++; } return Result::success(); } From 09cfd267cbf60816b3244491f0d301d48e231d40 Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Wed, 24 Apr 2024 09:22:39 +0200 Subject: [PATCH 2/8] refactor examples branch stopper --- .../src/TrackFindingAlgorithm.cpp | 38 +++++++------------ 1 file changed, 13 insertions(+), 25 deletions(-) diff --git a/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp b/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp index 1eb961a0234..80c3f5a30cf 100644 --- a/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp +++ b/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp @@ -179,16 +179,18 @@ class BranchStopper { using Config = std::optional>; + using BranchStopperResult = Acts::CombinatorialKalmanFilterExtensions< + Acts::VectorMultiTrajectory>::BranchStopperResult; mutable std::atomic m_nStoppedBranches{0}; explicit BranchStopper(const Config& config) : m_config(config) {} - bool operator()( + BranchStopperResult operator()( const Acts::CombinatorialKalmanFilterTipState& tipState, Acts::VectorMultiTrajectory::TrackStateProxy& trackState) const { if (!m_config.has_value()) { - return false; + return BranchStopperResult::Continue; } const Acts::TrackSelector::Config* singleConfig = std::visit( @@ -207,35 +209,21 @@ class BranchStopper { if (singleConfig == nullptr) { ++m_nStoppedBranches; - return true; + return BranchStopperResult::StopAndDrop; } - // Continue if the number of holes is below the maximum - if (tipState.nHoles <= singleConfig->maxHoles) { - return false; - } - - // Continue if the number of outliers is below the maximum - if (tipState.nOutliers <= singleConfig->maxOutliers) { - return false; - } + bool enoughMeasurements = + tipState.nMeasurements >= singleConfig->minMeasurements; + bool tooManyHoles = tipState.nHoles > singleConfig->maxHoles; + bool tooManyOutliers = tipState.nOutliers > singleConfig->maxOutliers; - // If there are not enough measurements but more holes than allowed we stop - if (tipState.nMeasurements < singleConfig->minMeasurements) { + if (tooManyHoles || tooManyOutliers) { ++m_nStoppedBranches; - return true; + return enoughMeasurements ? BranchStopperResult::StopAndKeep + : BranchStopperResult::StopAndDrop; } - // Getting another measurement guarantees that the holes are in the middle - // of the track - if (trackState.typeFlags().test(Acts::TrackStateFlag::MeasurementFlag)) { - ++m_nStoppedBranches; - return true; - } - - // We cannot be sure if the holes are just at the end of the track so we - // have to keep going - return false; + return BranchStopperResult::Continue; } private: From 92c8648a225ca472b0493b79a164d871787834f7 Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Wed, 1 May 2024 10:22:36 +0200 Subject: [PATCH 3/8] refactor: Common function to store tracks in Core `CKF` --- .../CombinatorialKalmanFilter.hpp | 105 +++++++++--------- 1 file changed, 53 insertions(+), 52 deletions(-) diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp index 0369c49a8b4..533c4873ad2 100644 --- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp +++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp @@ -391,52 +391,12 @@ class CombinatorialKalmanFilter { // - When navigation breaks and there is still active tip present after // recording&removing track tips on current surface if (navigator.navigationBreak(state.navigation) && !result.filtered) { - // Record the tips on current surface as trajectory entry indices - // (taking advantage of fact that those tips are consecutive in list of - // active tips) and remove those tips from active tips if (!result.activeTips.empty()) { - // The last active tip - const auto& lastActiveTip = result.activeTips.back().first; - // Get the index of previous state - auto iprevious = - result.fittedStates->getTrackState(lastActiveTip).previous(); - // Find the track states which have the same previous state and remove - // them from active tips - while (!result.activeTips.empty()) { - const auto& [currentTip, tipState] = result.activeTips.back(); - if (result.fittedStates->getTrackState(currentTip).previous() != - iprevious) { - break; - } - // Record the tips if there are measurements on the track - if (tipState.nMeasurements > 0) { - ACTS_VERBOSE("Find track with entry index = " - << currentTip << " and there are nMeasurements = " - << tipState.nMeasurements - << ", nOutliers = " << tipState.nOutliers - << ", nHoles = " << tipState.nHoles << " on track"); - result.lastTrackIndices.emplace_back(currentTip); - // Set the lastMeasurementIndex to the last measurement - // to ignore the states after it in the rest of the algorithm - auto lastMeasurementIndex = currentTip; - auto lastMeasurementState = - result.fittedStates->getTrackState(lastMeasurementIndex); - bool isMeasurement = lastMeasurementState.typeFlags().test( - TrackStateFlag::MeasurementFlag); - while (!isMeasurement) { - lastMeasurementIndex = lastMeasurementState.previous(); - lastMeasurementState = - result.fittedStates->getTrackState(lastMeasurementIndex); - isMeasurement = lastMeasurementState.typeFlags().test( - TrackStateFlag::MeasurementFlag); - } - result.lastMeasurementIndices.emplace_back(lastMeasurementIndex); - // @TODO: Keep information on tip state around so we don't have to - // recalculate it later - } - // Remove the tip from list of active tips - result.activeTips.erase(result.activeTips.end() - 1); - } + // Record the active tip as trajectory entry indices and remove it + // from the list + storeLastActiveTip(result); + // Remove the tip from list of active tips + result.activeTips.erase(result.activeTips.end() - 1); } // If no more active tip, done with filtering; Otherwise, reset // propagation state to track state at last tip of active tips @@ -470,6 +430,8 @@ class CombinatorialKalmanFilter { result.filtered = true; } else { // remove the active tip and continue with the next + storeLastActiveTip(result); + // Remove the tip from list of active tips result.activeTips.erase(result.activeTips.end() - 1); reset(state, stepper, navigator, result); } @@ -570,7 +532,7 @@ class CombinatorialKalmanFilter { // Retrieve the previous tip and its state // The states created on this surface will have the common previous tip - std::size_t prevTip = SIZE_MAX; + std::size_t prevTip = kTrackIndexInvalid; TipState prevTipState; if (!result.activeTips.empty()) { prevTip = result.activeTips.back().first; @@ -638,7 +600,7 @@ class CombinatorialKalmanFilter { nBranchesOnSurface = 1; // Retrieve the previous tip and its state - std::size_t prevTip = SIZE_MAX; + std::size_t prevTip = kTrackIndexInvalid; TipState tipState; if (!result.activeTips.empty()) { prevTip = result.activeTips.back().first; @@ -668,7 +630,6 @@ class CombinatorialKalmanFilter { // Increment of number of processed states tipState.nStates++; - std::size_t currentTip = SIZE_MAX; if (isSensitive) { // Increment of number of holes tipState.nHoles++; @@ -688,19 +649,22 @@ class CombinatorialKalmanFilter { boundParams.covariance() = state.stepping.cov; // Add a hole or material track state to the multitrajectory - currentTip = addNonSourcelinkState(stateMask, boundState, result, - isSensitive, prevTip); + std::size_t currentTip = addNonSourcelinkState( + stateMask, boundState, result, isSensitive, prevTip); + result.activeTips.emplace_back(currentTip, tipState); auto nonSourcelinkState = result.fittedStates->getTrackState(currentTip); // Check the branch if (!m_extensions.branchStopper(tipState, nonSourcelinkState)) { - // Remember the active tip and its state - result.activeTips.emplace_back(currentTip, tipState); + // Remembered the active tip and its state } else { // No branch on this surface nBranchesOnSurface = 0; + + // Remove the last tip from active tips + result.activeTips.erase(result.activeTips.end() - 1); } } @@ -720,6 +684,13 @@ class CombinatorialKalmanFilter { if (!result.activeTips.empty()) { ACTS_VERBOSE("Propagation jumps to branch with tip = " << result.activeTips.back().first); + for (auto& [index, tipState] : result.activeTips) { + ACTS_VERBOSE("Active tip: " + << index << " with surface " + << result.fittedStates->getTrackState(index) + .referenceSurface() + .geometryId()); + } reset(state, stepper, navigator, result); } else { ACTS_VERBOSE("Stop Kalman filtering with " @@ -729,6 +700,9 @@ class CombinatorialKalmanFilter { } } + // std::cout << "nBranchesOnSurface: " << surface->geometryId() << " " + // << nBranchesOnSurface << std::endl; + return Result::success(); } @@ -1026,6 +1000,33 @@ class CombinatorialKalmanFilter { } } + void storeLastActiveTip(result_type& result) const { + const auto& [currentTip, tipState] = result.activeTips.back(); + ACTS_VERBOSE("Find track with entry index = " + << currentTip << " and there are nMeasurements = " + << tipState.nMeasurements + << ", nOutliers = " << tipState.nOutliers + << ", nHoles = " << tipState.nHoles << " on track"); + result.lastTrackIndices.emplace_back(currentTip); + // Set the lastMeasurementIndex to the last measurement + // to ignore the states after it in the rest of the algorithm + auto lastMeasurementIndex = currentTip; + auto lastMeasurementState = + result.fittedStates->getTrackState(lastMeasurementIndex); + bool isMeasurement = lastMeasurementState.typeFlags().test( + TrackStateFlag::MeasurementFlag); + while (!isMeasurement) { + lastMeasurementIndex = lastMeasurementState.previous(); + lastMeasurementState = + result.fittedStates->getTrackState(lastMeasurementIndex); + isMeasurement = lastMeasurementState.typeFlags().test( + TrackStateFlag::MeasurementFlag); + } + result.lastMeasurementIndices.emplace_back(lastMeasurementIndex); + // @TODO: Keep information on tip state around so we don't have to + // recalculate it later + } + CombinatorialKalmanFilterExtensions m_extensions; /// The source link accessor From 183b792991cb308aa801ba542e2b7d88667b01ec Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Wed, 1 May 2024 11:14:44 +0200 Subject: [PATCH 4/8] fix out of bounds --- .../CombinatorialKalmanFilter.hpp | 50 +++++++++---------- 1 file changed, 24 insertions(+), 26 deletions(-) diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp index 533c4873ad2..16a8c44fc02 100644 --- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp +++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp @@ -684,13 +684,6 @@ class CombinatorialKalmanFilter { if (!result.activeTips.empty()) { ACTS_VERBOSE("Propagation jumps to branch with tip = " << result.activeTips.back().first); - for (auto& [index, tipState] : result.activeTips) { - ACTS_VERBOSE("Active tip: " - << index << " with surface " - << result.fittedStates->getTrackState(index) - .referenceSurface() - .geometryId()); - } reset(state, stepper, navigator, result); } else { ACTS_VERBOSE("Stop Kalman filtering with " @@ -700,9 +693,6 @@ class CombinatorialKalmanFilter { } } - // std::cout << "nBranchesOnSurface: " << surface->geometryId() << " " - // << nBranchesOnSurface << std::endl; - return Result::success(); } @@ -1002,29 +992,37 @@ class CombinatorialKalmanFilter { void storeLastActiveTip(result_type& result) const { const auto& [currentTip, tipState] = result.activeTips.back(); + // @TODO: Keep information on tip state around so we don't have to + // recalculate it later ACTS_VERBOSE("Find track with entry index = " << currentTip << " and there are nMeasurements = " << tipState.nMeasurements << ", nOutliers = " << tipState.nOutliers << ", nHoles = " << tipState.nHoles << " on track"); result.lastTrackIndices.emplace_back(currentTip); - // Set the lastMeasurementIndex to the last measurement - // to ignore the states after it in the rest of the algorithm - auto lastMeasurementIndex = currentTip; - auto lastMeasurementState = - result.fittedStates->getTrackState(lastMeasurementIndex); - bool isMeasurement = lastMeasurementState.typeFlags().test( - TrackStateFlag::MeasurementFlag); - while (!isMeasurement) { - lastMeasurementIndex = lastMeasurementState.previous(); - lastMeasurementState = - result.fittedStates->getTrackState(lastMeasurementIndex); - isMeasurement = lastMeasurementState.typeFlags().test( - TrackStateFlag::MeasurementFlag); + + std::optional + lastMeasurementIndexCandidate; + result.fittedStates->visitBackwards( + currentTip, [&](const auto& trackState) { + bool isMeasurement = + trackState.typeFlags().test(TrackStateFlag::MeasurementFlag); + if (isMeasurement) { + lastMeasurementIndexCandidate = trackState.index(); + return false; + } + return true; + }); + if (lastMeasurementIndexCandidate.has_value()) { + ACTS_VERBOSE("Last measurement found on track with entry index = " + << currentTip << " and measurement index = " + << lastMeasurementIndexCandidate.value()); + result.lastMeasurementIndices.emplace_back( + lastMeasurementIndexCandidate.value()); + } else { + ACTS_VERBOSE( + "No measurement found on track with entry index = " << currentTip); } - result.lastMeasurementIndices.emplace_back(lastMeasurementIndex); - // @TODO: Keep information on tip state around so we don't have to - // recalculate it later } CombinatorialKalmanFilterExtensions m_extensions; From 5e601b75d26aabfd0d0966ca88642be6ab697515 Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Wed, 1 May 2024 12:14:00 +0200 Subject: [PATCH 5/8] improve doc --- Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp index 16a8c44fc02..b4a6c2b6054 100644 --- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp +++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp @@ -429,7 +429,6 @@ class CombinatorialKalmanFilter { << result.lastTrackIndices.size() << " tracks"); result.filtered = true; } else { - // remove the active tip and continue with the next storeLastActiveTip(result); // Remove the tip from list of active tips result.activeTips.erase(result.activeTips.end() - 1); From 2b068eabb436842d9aa364bce6e8ee8155cd156d Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Thu, 2 May 2024 09:22:29 +0200 Subject: [PATCH 6/8] use storeLastActiveTip --- Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp index d0f0ba20517..71bb9dbd4f0 100644 --- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp +++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp @@ -676,7 +676,7 @@ class CombinatorialKalmanFilter { nBranchesOnSurface = 0; if (branchStopperResult == BranchStopperResult::StopAndKeep) { - result.lastMeasurementIndices.emplace_back(currentTip); + storeLastActiveTip(result); } // Remove the tip from list of active tips From 61b1c7b66dbf1d9b6c6792cf75b8a6982cc9d0e3 Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Thu, 2 May 2024 09:25:58 +0200 Subject: [PATCH 7/8] move enum --- .../TrackFinding/CombinatorialKalmanFilter.hpp | 16 ++++++++-------- .../TrackFinding/src/TrackFindingAlgorithm.cpp | 4 ++-- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp index 71bb9dbd4f0..2a1aab8684e 100644 --- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp +++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp @@ -67,17 +67,18 @@ struct CombinatorialKalmanFilterTipState { std::size_t nHoles = 0; }; +enum class CombinatorialKalmanFilterBranchStopperResult { + Continue, + StopAndDrop, + StopAndKeep, +}; + /// Extension struct which holds the delegates to customize the CKF behavior template struct CombinatorialKalmanFilterExtensions { using candidate_container_t = typename std::vector; - - enum class BranchStopperResult { - Continue, - StopAndDrop, - StopAndKeep, - }; + using BranchStopperResult = CombinatorialKalmanFilterBranchStopperResult; using Calibrator = typename KalmanFitterExtensions::Calibrator; using Updater = typename KalmanFitterExtensions::Updater; @@ -663,8 +664,7 @@ class CombinatorialKalmanFilter { result.fittedStates->getTrackState(currentTip); using BranchStopperResult = - typename CombinatorialKalmanFilterExtensions< - traj_t>::BranchStopperResult; + CombinatorialKalmanFilterBranchStopperResult; BranchStopperResult branchStopperResult = m_extensions.branchStopper(tipState, nonSourcelinkState); diff --git a/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp b/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp index 80c3f5a30cf..37364a633d1 100644 --- a/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp +++ b/Examples/Algorithms/TrackFinding/src/TrackFindingAlgorithm.cpp @@ -179,8 +179,8 @@ class BranchStopper { using Config = std::optional>; - using BranchStopperResult = Acts::CombinatorialKalmanFilterExtensions< - Acts::VectorMultiTrajectory>::BranchStopperResult; + using BranchStopperResult = + Acts::CombinatorialKalmanFilterBranchStopperResult; mutable std::atomic m_nStoppedBranches{0}; From 9ba9f9fa9569b632aad82d0213c9b314c8571d9e Mon Sep 17 00:00:00 2001 From: Andreas Stefl Date: Thu, 2 May 2024 21:26:04 +0200 Subject: [PATCH 8/8] update ref --- ...erformance_amvf_gridseeder_ttbar_hist.root | Bin 49740 -> 49509 bytes .../performance_amvf_orthogonal_hist.root | Bin 51185 -> 51259 bytes .../performance_amvf_seeded_hist.root | Bin 51274 -> 51304 bytes .../performance_amvf_ttbar_hist.root | Bin 49298 -> 49257 bytes .../tracksummary_ckf_ttbar_hist.root | Bin 39973 -> 40003 bytes 5 files changed, 0 insertions(+), 0 deletions(-) diff --git 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