ITS: new CPU + GPU seeding vertexer #15733
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| // Copyright 2019-2020 CERN and copyright holders of ALICE O2. | ||
| // See https://alice-o2.web.cern.ch/copyright for details of the copyright holders. | ||
| // All rights not expressly granted are reserved. | ||
| // | ||
| // This software is distributed under the terms of the GNU General Public | ||
| // License v3 (GPL Version 3), copied verbatim in the file "COPYING". | ||
| // | ||
| // In applying this license CERN does not waive the privileges and immunities | ||
| // granted to it by virtue of its status as an Intergovernmental Organization | ||
| // or submit itself to any jurisdiction. | ||
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| /// \file ClusterLinesGPU.h | ||
| /// \brief device-side line + N-line vertex fit for the GPU seeding vertexer. | ||
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| #ifndef O2_ITS_CLUSTERLINES_GPU_H | ||
| #define O2_ITS_CLUSTERLINES_GPU_H | ||
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| #include "DataFormatsITS/TimeEstBC.h" | ||
| #include "GPUCommonDef.h" | ||
| #include "GPUCommonMath.h" | ||
| #include "ITStracking/LineProjection.h" | ||
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| namespace o2::its::gpu | ||
| { | ||
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| using LineTime = o2::its::LineTime; | ||
| using LineWindow = o2::its::LineWindow; | ||
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| struct LineProjSoA { | ||
| float* z{nullptr}; // projected z at the beamline; sort key and binary-search key, kept dense | ||
| LineTime* t{nullptr}; // time centre + half-width | ||
| int* idx{nullptr}; // sorted slot -> original line index | ||
| int* rof{nullptr}; // ROF of the line | ||
| }; | ||
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| struct VertexCand { | ||
| float x, y, z; | ||
| float rms2[6]; | ||
| float avgDist2; | ||
| int nGood; | ||
| float seed[3]; | ||
| o2::its::TimeEstBC time; | ||
| int size; | ||
| uint8_t ok; // 1 if the candidate passed the fit cuts | ||
| uint8_t keep; // 1 if it survived duplicate suppression (subset of ok) | ||
| uint8_t fine; | ||
| }; | ||
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| // Device-side line: origin point + unit direction, with a time stamp | ||
| struct GPULine { | ||
| GPUhdDefault() GPULine() = default; | ||
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| GPUhdi() GPULine(const float origin[3], const float direction[3], const o2::its::TimeEstBC& t) : mTime(t) | ||
| { | ||
| const float norm = o2::gpu::GPUCommonMath::Sqrt(direction[0] * direction[0] + | ||
| direction[1] * direction[1] + | ||
| direction[2] * direction[2]); | ||
| const float inv = norm > 0.f ? 1.f / norm : 0.f; | ||
| for (int i = 0; i < 3; ++i) { | ||
| originPoint[i] = origin[i]; | ||
| cosinesDirector[i] = direction[i] * inv; | ||
| } | ||
| } | ||
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| // Squared distance from a point to the (infinite) line: |delta - (delta.u) u|^2 | ||
| GPUhdi() static float getDistance2FromPoint(const GPULine& line, const float point[3]) | ||
| { | ||
| float delta[3]; | ||
| float proj = 0.f; | ||
| for (int i = 0; i < 3; ++i) { | ||
| delta[i] = point[i] - line.originPoint[i]; | ||
| proj += delta[i] * line.cosinesDirector[i]; | ||
| } | ||
| float d2 = 0.f; | ||
| for (int i = 0; i < 3; ++i) { | ||
| const float residual = delta[i] - proj * line.cosinesDirector[i]; | ||
| d2 += residual * residual; | ||
| } | ||
| return d2; | ||
| } | ||
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| GPUhdi() static void getDCAComponents(const GPULine& line, const float point[3], float out[6]) | ||
| { | ||
| float delta[3]; | ||
| float proj = 0.f; | ||
| for (int i = 0; i < 3; ++i) { | ||
| delta[i] = line.originPoint[i] - point[i]; | ||
| proj += delta[i] * line.cosinesDirector[i]; | ||
| } | ||
| float r[3]; | ||
| for (int i = 0; i < 3; ++i) { | ||
| r[i] = delta[i] - proj * line.cosinesDirector[i]; | ||
| } | ||
| out[0] = r[0]; // (0,0) XX | ||
| out[1] = o2::gpu::GPUCommonMath::Hypot(r[0], r[1]); // (0,1) XY | ||
| out[2] = r[1]; // (1,1) YY | ||
| out[3] = o2::gpu::GPUCommonMath::Hypot(r[0], r[2]); // (0,2) XZ | ||
| out[4] = o2::gpu::GPUCommonMath::Hypot(r[1], r[2]); // (1,2) YZ | ||
| out[5] = r[2]; // (2,2) ZZ | ||
| } | ||
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| float originPoint[3] = {0.f, 0.f, 0.f}; | ||
| float cosinesDirector[3] = {0.f, 0.f, 0.f}; | ||
| o2::its::TimeEstBC mTime; | ||
| }; | ||
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| class GPUClusterLinesFit | ||
| { | ||
| public: | ||
| GPUhdDefault() GPUClusterLinesFit() = default; | ||
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| // Add one line's contribution: A_ij += (delta_ij*|d|^2 - d_i*d_j)/|d|^2, | ||
| // b_i += (d_i*(d.o) - |d|^2*o_i)/|d|^2. For a unit director |d|^2 == 1. | ||
| GPUhdi() void add(const GPULine& line) | ||
| { | ||
| const double d0 = line.cosinesDirector[0], d1 = line.cosinesDirector[1], d2 = line.cosinesDirector[2]; | ||
| const double o0 = line.originPoint[0], o1 = line.originPoint[1], o2 = line.originPoint[2]; | ||
| const double det = d0 * d0 + d1 * d1 + d2 * d2; // == 1 for a normalised director | ||
| if (det <= 0.) { | ||
| return; | ||
| } | ||
| if (mNContributors <= 0) { | ||
| mTime = line.mTime; | ||
| } else { | ||
| mTime += line.mTime; | ||
| } | ||
| mA[0] += (det - d0 * d0) / det; | ||
| mA[1] += (-d0 * d1) / det; | ||
| mA[2] += (-d0 * d2) / det; | ||
| mA[3] += (det - d1 * d1) / det; | ||
| mA[4] += (-d1 * d2) / det; | ||
| mA[5] += (det - d2 * d2) / det; | ||
| const double dDotO = d0 * o0 + d1 * o1 + d2 * o2; | ||
| mB[0] += (d0 * dDotO - det * o0) / det; | ||
| mB[1] += (d1 * dDotO - det * o1) / det; | ||
| mB[2] += (d2 * dDotO - det * o2) / det; | ||
| ++mNContributors; | ||
| } | ||
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| // Solve the symmetric system and write the vertex (= -A^-1 B) | ||
| GPUhdi() bool solve(float vertex[3]) const | ||
| { | ||
| const double a = mA[0], b = mA[1], c = mA[2], d = mA[3], e = mA[4], f = mA[5]; | ||
| const double c00 = d * f - e * e; | ||
| const double c01 = c * e - b * f; | ||
| const double c02 = b * e - c * d; | ||
| const double c11 = a * f - c * c; | ||
| const double c12 = b * c - a * e; | ||
| const double c22 = a * d - b * b; | ||
| const double det = a * c00 + b * c01 + c * c02; | ||
| if (o2::gpu::GPUCommonMath::Abs(det) < 1.e-12) { | ||
| return false; | ||
| } | ||
| const double invDet = 1. / det; | ||
| const double x0 = (c00 * mB[0] + c01 * mB[1] + c02 * mB[2]) * invDet; | ||
| const double x1 = (c01 * mB[0] + c11 * mB[1] + c12 * mB[2]) * invDet; | ||
| const double x2 = (c02 * mB[0] + c12 * mB[1] + c22 * mB[2]) * invDet; | ||
| vertex[0] = static_cast<float>(-x0); | ||
| vertex[1] = static_cast<float>(-x1); | ||
| vertex[2] = static_cast<float>(-x2); | ||
| return true; | ||
| } | ||
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| GPUhdi() void addResidual(const GPULine& line, const float vertex[3]) | ||
| { | ||
| float dca[6]; | ||
| GPULine::getDCAComponents(line, vertex, dca); | ||
| const float d2 = GPULine::getDistance2FromPoint(line, vertex); | ||
| ++mResidualCount; | ||
| const float inv = 1.f / static_cast<float>(mResidualCount); | ||
| for (int i = 0; i < 6; ++i) { | ||
| mRMS2[i] += (dca[i] - mRMS2[i]) * inv; | ||
| } | ||
| mAvgDistance2 += (d2 - mAvgDistance2) * inv; | ||
| } | ||
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| GPUhdi() int getNContributors() const { return mNContributors; } | ||
| GPUhdi() const float* getRMS2() const { return mRMS2; } // Packed symmetric covariance in {XX, XY, YY, XZ, YZ, ZZ} order | ||
| GPUhdi() float getAvgDistance2() const { return mAvgDistance2; } | ||
| GPUhdi() const o2::its::TimeEstBC& getTimeStamp() const { return mTime; } | ||
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| private: | ||
| double mA[6] = {0., 0., 0., 0., 0., 0.}; | ||
| double mB[3] = {0., 0., 0.}; | ||
| int mNContributors = 0; | ||
| float mRMS2[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f}; | ||
| float mAvgDistance2 = 0.f; | ||
| int mResidualCount = 0; | ||
| o2::its::TimeEstBC mTime; | ||
| }; | ||
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| } // namespace o2::its::gpu | ||
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| #endif /* O2_ITS_CLUSTERLINES_GPU_H */ |
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Do we need to duplicate the already existing ClusterLines math, can we not have only one of these classes?