Core/TrackFitting/KalmanFitterTests.cpp

0001 // This file is part of the Acts project.
0002 //
0003 // Copyright (C) 2016-2020 CERN for the benefit of the Acts project
0004 //
0005 // This Source Code Form is subject to the terms of the Mozilla Public
0006 // License, v. 2.0. If a copy of the MPL was not distributed with this
0007 // file, You can obtain one at http://mozilla.org/MPL/2.0/.
0008
0009 #include <boost/test/unit_test.hpp>
0010
0011 #include "Acts/Definitions/Algebra.hpp"
0012 #include "Acts/Definitions/Direction.hpp"
0013 #include "Acts/Definitions/TrackParametrization.hpp"
0014 #include "Acts/Definitions/Units.hpp"
0015 #include "Acts/EventData/GenericCurvilinearTrackParameters.hpp"
0016 #include "Acts/EventData/MultiTrajectory.hpp"
0017 #include "Acts/EventData/TrackParameters.hpp"
0018 #include "Acts/EventData/TrackStatePropMask.hpp"
0019 #include "Acts/EventData/VectorMultiTrajectory.hpp"
0020 #include "Acts/EventData/detail/TestSourceLink.hpp"
0021 #include "Acts/Propagator/EigenStepper.hpp"
0022 #include "Acts/Propagator/Navigator.hpp"
0023 #include "Acts/Propagator/Propagator.hpp"
0024 #include "Acts/Propagator/StraightLineStepper.hpp"
0025 #include "Acts/Tests/CommonHelpers/LineSurfaceStub.hpp"
0026 #include "Acts/TrackFitting/GainMatrixSmoother.hpp"
0027 #include "Acts/TrackFitting/GainMatrixUpdater.hpp"
0028 #include "Acts/TrackFitting/KalmanFitter.hpp"
0029 #include "Acts/Utilities/Delegate.hpp"
0030 #include "Acts/Utilities/Logger.hpp"
0031
0032 #include <algorithm>
0033 #include <functional>
0034 #include <map>
0035 #include <memory>
0036 #include <optional>
0037 #include <random>
0038 #include <utility>
0039
0040 #include "FitterTestsCommon.hpp"
0041
0042 namespace {
0043
0044 using namespace Acts;
0045 using namespace Acts::Test;
0046 using namespace Acts::detail::Test;
0047 using namespace Acts::UnitLiterals;
0048
0049 using StraightPropagator =
0050     Acts::Propagator<Acts::StraightLineStepper, Acts::Navigator>;
0051 using ConstantFieldStepper = Acts::EigenStepper<>;
0052 using ConstantFieldPropagator =
0053     Acts::Propagator<ConstantFieldStepper, Acts::Navigator>;
0054
0055 using KalmanUpdater = Acts::GainMatrixUpdater;
0056 using KalmanSmoother = Acts::GainMatrixSmoother;
0057 using KalmanFitter =
0058     Acts::KalmanFitter<ConstantFieldPropagator, VectorMultiTrajectory>;
0059
0060 static const auto pion = Acts::ParticleHypothesis::pion();
0061
0062 KalmanUpdater kfUpdater;
0063 KalmanSmoother kfSmoother;
0064
0065 // Construct initial track parameters.
0066 Acts::CurvilinearTrackParameters makeParameters() {
0067   // create covariance matrix from reasonable standard deviations
0068   Acts::BoundVector stddev;
0069   stddev[Acts::eBoundLoc0] = 100_um;
0070   stddev[Acts::eBoundLoc1] = 100_um;
0071   stddev[Acts::eBoundTime] = 25_ns;
0072   stddev[Acts::eBoundPhi] = 2_degree;
0073   stddev[Acts::eBoundTheta] = 2_degree;
0074   stddev[Acts::eBoundQOverP] = 1 / 100_GeV;
0075   Acts::BoundSquareMatrix cov = stddev.cwiseProduct(stddev).asDiagonal();
0076   // define a track in the transverse plane along x
0077   Acts::Vector4 mPos4(-3_m, 0., 0., 42_ns);
0078   return Acts::CurvilinearTrackParameters(mPos4, 0_degree, 90_degree,
0079                                           1_e / 1_GeV, cov, pion);
0080 }
0081
0082 // Instantiate the tester
0083 const FitterTester tester;
0084
0085 // reconstruction propagator and fitter
0086 auto kfLogger = getDefaultLogger("KalmanFilter", Logging::INFO);
0087 const auto kfZeroPropagator =
0088     makeConstantFieldPropagator<ConstantFieldStepper>(tester.geometry, 0_T);
0089 const auto kfZero = KalmanFitter(kfZeroPropagator, std::move(kfLogger));
0090
0091 std::default_random_engine rng(42);
0092
0093 auto makeDefaultKalmanFitterOptions() {
0094   KalmanFitterExtensions<VectorMultiTrajectory> extensions;
0095   extensions.calibrator
0096       .connect<&testSourceLinkCalibrator<VectorMultiTrajectory>>();
0097   extensions.updater.connect<&KalmanUpdater::operator()<VectorMultiTrajectory>>(
0098       &kfUpdater);
0099   extensions.smoother
0100       .connect<&KalmanSmoother::operator()<VectorMultiTrajectory>>(&kfSmoother);
0101   extensions.surfaceAccessor.connect<
0102       &Acts::detail::Test::TestSourceLink::SurfaceAccessor::operator()>(
0103       &tester.surfaceAccessor);
0104
0105   return KalmanFitterOptions(tester.geoCtx, tester.magCtx, tester.calCtx,
0106                              extensions, PropagatorPlainOptions());
0107 }
0108
0109 }  // namespace
0110
0111 BOOST_AUTO_TEST_SUITE(TrackFittingKalmanFitter)
0112
0113 BOOST_AUTO_TEST_CASE(ZeroFieldNoSurfaceForward) {
0114   auto start = makeParameters();
0115   auto kfOptions = makeDefaultKalmanFitterOptions();
0116
0117   bool expected_reversed = false;
0118   bool expected_smoothed = true;
0119   tester.test_ZeroFieldNoSurfaceForward(kfZero, kfOptions, start, rng,
0120                                         expected_reversed, expected_smoothed,
0121                                         true);
0122 }
0123
0124 BOOST_AUTO_TEST_CASE(ZeroFieldWithSurfaceForward) {
0125   auto start = makeParameters();
0126   auto kfOptions = makeDefaultKalmanFitterOptions();
0127
0128   // regular smoothing
0129   kfOptions.reversedFiltering = false;
0130   bool expected_reversed = false;
0131   bool expected_smoothed = true;
0132   tester.test_ZeroFieldWithSurfaceForward(kfZero, kfOptions, start, rng,
0133                                           expected_reversed, expected_smoothed,
0134                                           true);
0135
0136   // reverse filtering instead of smoothing
0137   kfOptions.reversedFiltering = true;
0138   kfOptions.reversedFilteringCovarianceScaling = 100.0;
0139   expected_reversed = true;
0140   expected_smoothed = false;
0141   tester.test_ZeroFieldWithSurfaceForward(kfZero, kfOptions, start, rng,
0142                                           expected_reversed, expected_smoothed,
0143                                           true);
0144 }
0145
0146 BOOST_AUTO_TEST_CASE(ZeroFieldWithSurfaceBackward) {
0147   auto start = makeParameters();
0148   auto kfOptions = makeDefaultKalmanFitterOptions();
0149
0150   // regular smoothing
0151   kfOptions.reversedFiltering = false;
0152   bool expected_reversed = false;
0153   bool expected_smoothed = true;
0154   tester.test_ZeroFieldWithSurfaceBackward(kfZero, kfOptions, start, rng,
0155                                            expected_reversed, expected_smoothed,
0156                                            true);
0157
0158   // reverse filtering instead of smoothing
0159   kfOptions.reversedFiltering = true;
0160   kfOptions.reversedFilteringCovarianceScaling = 100.0;
0161   expected_reversed = true;
0162   expected_smoothed = false;
0163   tester.test_ZeroFieldWithSurfaceBackward(kfZero, kfOptions, start, rng,
0164                                            expected_reversed, expected_smoothed,
0165                                            true);
0166 }
0167
0168 BOOST_AUTO_TEST_CASE(ZeroFieldWithSurfaceAtExit) {
0169   auto start = makeParameters();
0170   auto kfOptions = makeDefaultKalmanFitterOptions();
0171
0172   bool expected_reversed = false;
0173   bool expected_smoothed = true;
0174   tester.test_ZeroFieldWithSurfaceAtExit(kfZero, kfOptions, start, rng,
0175                                          expected_reversed, expected_smoothed,
0176                                          true);
0177 }
0178
0179 BOOST_AUTO_TEST_CASE(ZeroFieldShuffled) {
0180   auto start = makeParameters();
0181   auto kfOptions = makeDefaultKalmanFitterOptions();
0182
0183   bool expected_reversed = false;
0184   bool expected_smoothed = true;
0185   tester.test_ZeroFieldShuffled(kfZero, kfOptions, start, rng,
0186                                 expected_reversed, expected_smoothed, true);
0187 }
0188
0189 BOOST_AUTO_TEST_CASE(ZeroFieldWithHole) {
0190   auto start = makeParameters();
0191   auto kfOptions = makeDefaultKalmanFitterOptions();
0192
0193   bool expected_reversed = false;
0194   bool expected_smoothed = true;
0195   tester.test_ZeroFieldWithHole(kfZero, kfOptions, start, rng,
0196                                 expected_reversed, expected_smoothed, true);
0197 }
0198
0199 BOOST_AUTO_TEST_CASE(ZeroFieldWithOutliers) {
0200   auto start = makeParameters();
0201
0202   // fitter options w/o target surface. outlier distance is set to be below the
0203   // default outlier distance in the `MeasurementsCreator`
0204   auto kfOptions = makeDefaultKalmanFitterOptions();
0205
0206   TestOutlierFinder tof{5_mm};
0207   kfOptions.extensions.outlierFinder
0208       .connect<&TestOutlierFinder::operator()<VectorMultiTrajectory>>(&tof);
0209
0210   bool expected_reversed = false;
0211   bool expected_smoothed = true;
0212   tester.test_ZeroFieldWithOutliers(kfZero, kfOptions, start, rng,
0213                                     expected_reversed, expected_smoothed, true);
0214 }
0215
0216 BOOST_AUTO_TEST_CASE(ZeroFieldWithReverseFiltering) {
0217   auto start = makeParameters();
0218
0219   auto test = [&](double threshold, bool reverse, bool expected_reversed,
0220                   bool expected_smoothed) {
0221     auto kfOptions = makeDefaultKalmanFitterOptions();
0222
0223     TestReverseFilteringLogic trfl{threshold};
0224     kfOptions.extensions.reverseFilteringLogic
0225         .connect<&TestReverseFilteringLogic::operator()<VectorMultiTrajectory>>(
0226             &trfl);
0227
0228     kfOptions.reversedFiltering = reverse;
0229     kfOptions.reversedFilteringCovarianceScaling = 100.0;
0230
0231     tester.test_ZeroFieldWithReverseFiltering(kfZero, kfOptions, start, rng,
0232                                               expected_reversed,
0233                                               expected_smoothed, true);
0234   };
0235
0236   // Track of 1 GeV with a threshold set at 0.1 GeV, reversed filtering should
0237   // not be used
0238   test(0.1_GeV, false, false, true);
0239
0240   // Track of 1 GeV with a threshold set at 10 GeV, reversed filtering should
0241   // be used
0242   test(10._GeV, false, true, false);
0243
0244   // Track of 1 GeV with a threshold set at 10 GeV, reversed filtering should
0245   // be used
0246   test(0.1_GeV, true, true, false);
0247 }
0248
0249 // TODO this is not really Kalman fitter specific. is probably better tested
0250 // with a synthetic trajectory.
0251 BOOST_AUTO_TEST_CASE(GlobalCovariance) {
0252   auto start = makeParameters();
0253   auto kfOptions = makeDefaultKalmanFitterOptions();
0254
0255   tester.test_GlobalCovariance(kfZero, kfOptions, start, rng);
0256 }
0257
0258 BOOST_AUTO_TEST_SUITE_END()