From c854e1f0181db4ee3fe9ebc81c084d4876251f09 Mon Sep 17 00:00:00 2001
From: xai <xiaocong.ai@cern.ch>
Date: Sat, 21 Dec 2019 09:17:11 +0800
Subject: [PATCH] Add the outlier rejection in Kalman Actor
---
Core/include/Acts/Fitter/KalmanFitter.hpp | 35 ++++++++++++++-----
.../Fitter/detail/VoidKalmanComponents.hpp | 17 ++++++++-
2 files changed, 42 insertions(+), 10 deletions(-)
diff --git a/Core/include/Acts/Fitter/KalmanFitter.hpp b/Core/include/Acts/Fitter/KalmanFitter.hpp
index fb89afbac..f2723ed1c 100644
--- a/Core/include/Acts/Fitter/KalmanFitter.hpp
+++ b/Core/include/Acts/Fitter/KalmanFitter.hpp
@@ -150,6 +150,8 @@ struct KalmanFitterResult {
/// - The Updater is the implemented kalman updater formalism, it
/// runs via a visitor pattern through the measurements.
/// - The Smoother is called at the end of the forward fit by the Actor.
+/// - The outlier finder is called during the filtering by the Actor.
+/// It determines if the measurement is an outlier
/// - The Calibrator is a dedicated calibration algorithm that allows
/// to calibrate measurements using track information, this could be
/// e.g. sagging for wires, module deformations, etc.
@@ -167,6 +169,7 @@ struct KalmanFitterResult {
/// The void components are provided mainly for unit testing.
template <typename propagator_t, typename updater_t = VoidKalmanUpdater,
typename smoother_t = VoidKalmanSmoother,
+ typename outlier_finder_t = VoidOutlierFinder,
typename calibrator_t = VoidMeasurementCalibrator,
typename input_converter_t = VoidKalmanComponents,
typename output_converter_t = VoidKalmanComponents>
@@ -226,10 +229,12 @@ class KalmanFitter {
/// Explicit constructor with updater and calibrator
Actor(updater_t pUpdater = updater_t(), smoother_t pSmoother = smoother_t(),
+ outlier_finder_t pOutlierFinder = outlier_finder_t(),
calibrator_t pCalibrator = calibrator_t())
: m_updater(std::move(pUpdater)),
m_smoother(std::move(pSmoother)),
- m_calibrator(std::move(pCalibrator)) {}
+ m_calibrator(std::move(pCalibrator)),
+ m_outlierFinder(std::move(pOutlierFinder)) {}
/// Broadcast the result_type
using result_type = KalmanFitterResult<source_link_t>;
@@ -503,14 +508,23 @@ class KalmanFitter {
ACTS_ERROR("Update step failed: " << updateRes.error());
return updateRes.error();
} else {
- // Update the stepping state with filtered parameters
- ACTS_VERBOSE("Filtering step successful, updated parameters are : \n"
- << trackStateProxy.filtered().transpose());
- // update stepping state using filtered parameters after kalman update
- // We need to (re-)construct a BoundParameters instance here, which is
- // a bit awkward.
- stepper.update(state.stepping, trackStateProxy.filteredParameters(
- state.options.geoContext));
+ if (not m_outlierFinder(trackStateProxy)) {
+ // Update the stepping state with filtered parameters
+ ACTS_VERBOSE(
+ "Filtering step successful, updated parameters are : \n"
+ << trackStateProxy.filtered().transpose());
+ // update stepping state using filtered parameters after kalman
+ // update We need to (re-)construct a BoundParameters instance here,
+ // which is a bit awkward.
+ stepper.update(state.stepping, trackStateProxy.filteredParameters(
+ state.options.geoContext));
+ } else {
+ ACTS_VERBOSE(
+ "Filtering step successful. But measurement is deterimined to "
+ "be an outlier. Stepping state is not updated.")
+ // Set the outlier type flag
+ typeFlags.set(TrackStateFlag::OutlierFlag);
+ }
// Update state and stepper with post material effects
materialInteractor(surface, state, stepper, postUpdate);
@@ -840,6 +854,9 @@ class KalmanFitter {
/// The Kalman smoother
smoother_t m_smoother;
+ /// The outlier finder
+ outlier_finder_t m_outlierFinder;
+
/// The Measuremetn calibrator
calibrator_t m_calibrator;
diff --git a/Core/include/Acts/Fitter/detail/VoidKalmanComponents.hpp b/Core/include/Acts/Fitter/detail/VoidKalmanComponents.hpp
index 87eaf2e37..3098b3919 100644
--- a/Core/include/Acts/Fitter/detail/VoidKalmanComponents.hpp
+++ b/Core/include/Acts/Fitter/detail/VoidKalmanComponents.hpp
@@ -110,4 +110,19 @@ struct VoidKalmanSmoother {
}
};
-} // namespace Acts
\ No newline at end of file
+/// @brief void outlier finder
+struct VoidOutlierFinder {
+ /// @brief Public call mimicking an outlier finder
+ ///
+ /// @tparam track_state_t Type of the track state
+ ///
+ /// @param trackState The trackState to investigate
+ ///
+ /// @return Whether it's outlier or not
+ template <typename track_state_t>
+ bool operator()(const track_state_t& trackState) const {
+ return false;
+ }
+};
+
+} // namespace Acts
--
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