ref: Reduce default chi2 max

core/include/traccc/edm/track_parameters.hpp

@@ -14,6 +14,7 @@
 #include "traccc/definitions/qualifiers.hpp"
 #include "traccc/definitions/track_parametrization.hpp"
 #include "traccc/edm/container.hpp"
+#include "traccc/utils/trigonometric_helpers.hpp"
 
 // detray include(s).
 #include <detray/tracks/tracks.hpp>
@@ -48,19 +49,15 @@ using bound_track_parameters_collection_types =
 
 // Wrap the phi of track parameters to [-pi,pi]
 template <detray::concepts::algebra algebra_t>
-TRACCC_HOST_DEVICE inline void wrap_phi(
+TRACCC_HOST_DEVICE constexpr void normalize_angles(
     bound_track_parameters<algebra_t>& param) {
+    traccc::scalar phi;
+    traccc::scalar theta;
+
+    std::tie(phi, theta) = detail::wrap_phi_theta(param.phi(), param.theta());
 
-    traccc::scalar phi = param.phi();
-    static constexpr traccc::scalar TWOPI =
-        2.f * traccc::constant<traccc::scalar>::pi;
-    phi = math::fmod(phi, TWOPI);
-    if (phi > traccc::constant<traccc::scalar>::pi) {
-        phi -= TWOPI;
-    } else if (phi < -traccc::constant<traccc::scalar>::pi) {
-        phi += TWOPI;
-    }
     param.set_phi(phi);
+    param.set_theta(theta);
 }
 
 /// Covariance inflation used for track fitting

core/include/traccc/finding/details/combinatorial_kalman_filter.hpp

@@ -126,8 +126,10 @@ combinatorial_kalman_filter(
     std::vector<std::pair<unsigned int, unsigned int>> tips;
 
     // Create propagator
+    auto prop_cfg{config.propagation};
+    prop_cfg.navigation.estimate_scattering_noise = false;
     traccc::details::ckf_propagator_t<detector_t, bfield_t> propagator(
-        config.propagation);
+        prop_cfg);
 
     // Create the input seeds container.
     bound_track_parameters_collection_types::const_device seeds{seeds_view};
@@ -240,15 +242,14 @@ combinatorial_kalman_filter(
 
             // Iterate over the measurements
             for (unsigned int meas_id = lo; meas_id < up; meas_id++) {
-
                 // The measurement on surface to handle.
                 const measurement& meas = measurements.at(meas_id);
 
                 // Create a standalone track state object.
                 auto trk_state =
                     edm::make_track_state<algebra_type>(measurements, meas_id);
 
-                const bool is_line = sf.template visit_mask<is_line_visitor>();
+                const bool is_line = detail::is_line(sf);
 
                 // Run the Kalman update on a copy of the track parameters
                 const kalman_fitter_status res =
@@ -484,8 +485,8 @@ combinatorial_kalman_filter(
             traccc::details::ckf_interactor_t::state s2;
             typename interaction_register<
                 traccc::details::ckf_interactor_t>::state s1{s2};
-            // typename detray::parameter_resetter<
-            //     typename detector_t::algebra_type>::state s3{};
+            typename detray::parameter_resetter<
+                typename detector_t::algebra_type>::state s3{prop_cfg};
             typename detray::momentum_aborter<scalar_type>::state s4{};
             typename ckf_aborter::state s5;
             // Update the actor config
@@ -495,21 +496,41 @@ combinatorial_kalman_filter(
             s5.max_count = config.max_step_counts_for_next_surface;
 
             // Propagate to the next surface
-            propagator.propagate(propagation, detray::tie(s0, s1, s2, s4, s5));
+            propagator.propagate(propagation,
+                                 detray::tie(s0, s1, s2, s3, s4, s5));
 
             // If a surface found, add the parameter for the next
             // step
-            if (s5.success) {
+            bool valid_track{s5.success};
+            if (valid_track) {
                 assert(propagation._navigation.is_on_sensitive());
                 assert(!propagation._stepping.bound_params().is_invalid());
 
-                out_params.push_back(propagation._stepping.bound_params());
-                param_to_link[step].push_back(link_id);
+                const auto& out_param = propagation._stepping.bound_params();
+
+                const scalar theta = out_param.theta();
+                if (theta <= 0.f ||
+                    theta >= 2.f * constant<traccc::scalar>::pi) {
+                    valid_track = false;
+                }
+
+                if (!std::isfinite(out_param.phi())) {
+                    valid_track = false;
+                }
+
+                if (math::fabs(out_param.qop()) == 0.f) {
+                    valid_track = false;
+                }
+
+                if (valid_track) {
+                    out_params.push_back(out_param);
+                    param_to_link[step].push_back(link_id);
+                }
             }
             // Unless the track found a surface, it is considered a
             // tip
-            else if (!s5.success &&
-                     (step >= (config.min_track_candidates_per_track - 1u))) {
+            if (!valid_track &&
+                (step >= (config.min_track_candidates_per_track - 1u))) {
                 tips.push_back({step, link_id});
             }
 

core/include/traccc/finding/finding_config.hpp

@@ -43,7 +43,7 @@ struct finding_config {
     unsigned int max_step_counts_for_next_surface = 100;
 
     /// Maximum Chi-square that is allowed for branching
-    float chi2_max = 100.f;
+    float chi2_max = 30.f;
 
     /// Propagation configuration
     detray::propagation::config propagation{};

core/include/traccc/fitting/details/kalman_fitting.hpp

@@ -88,7 +88,7 @@ typename edm::track_container<algebra_t>::host kalman_fitting(
             result_tracks_device.at(result_tracks_device.size() - 1),
             typename edm::track_state_collection<algebra_t>::device{
                 vecmem::get_data(result.states)},
-            measurements, seqs_buffer);
+            measurements, seqs_buffer, fitter.config().propagation);
 
         // Run the fitter. The status that it returns is not used here. The main
         // failure modes are saved onto the fitted track itself. Not sure what

core/include/traccc/fitting/fitting_config.hpp

@@ -34,7 +34,7 @@ struct fitting_config {
     std::size_t barcode_sequence_size_factor = 5;
     std::size_t min_barcode_sequence_capacity = 100;
     traccc::scalar backward_filter_mask_tolerance =
-        5.f * traccc::unit<scalar>::mm;
+        10.f * traccc::unit<scalar>::m;
 };
 
 }  // namespace traccc

core/include/traccc/fitting/kalman_filter/gain_matrix_updater.hpp

@@ -123,6 +123,30 @@ struct gain_matrix_updater {
             predicted_vec + K * (meas_local - H * predicted_vec);
         const matrix_type<6, 6> filtered_cov = (I66 - K * H) * predicted_cov;
 
+        // Check the covariance for consistency
+        if (getter::element(filtered_cov, 0, 0) <= 0.f ||
+            getter::element(filtered_cov, 1, 1) <= 0.f ||
+            getter::element(filtered_cov, 2, 2) <= 0.f ||
+            getter::element(filtered_cov, 3, 3) <= 0.f ||
+            getter::element(filtered_cov, 4, 4) <= 0.f ||
+            getter::element(filtered_cov, 5, 5) <= 0.f) {
+            return kalman_fitter_status::ERROR_UPDATER_INVALID_COVARIANCE;
+        }
+
+        // Return false if track is parallel to z-axis or phi is not finite
+        if (!std::isfinite(getter::element(filtered_vec, e_bound_theta, 0))) {
+            return kalman_fitter_status::ERROR_INVERSION;
+        }
+
+        if (!std::isfinite(getter::element(filtered_vec, e_bound_phi, 0))) {
+            return kalman_fitter_status::ERROR_INVERSION;
+        }
+
+        if (math::fabs(getter::element(filtered_vec, e_bound_qoverp, 0)) ==
+            0.f) {
+            return kalman_fitter_status::ERROR_QOP_ZERO;
+        }
+
         // Residual between measurement and (projected) filtered vector
         const matrix_type<D, 1> residual = meas_local - H * filtered_vec;
 
@@ -133,36 +157,28 @@ struct gain_matrix_updater {
                 residual, matrix::inverse(R)) *
             residual;
 
-        // Return false if track is parallel to z-axis or phi is not finite
-        const scalar theta = bound_params.theta();
-
-        if (theta <= 0.f || theta >= constant<traccc::scalar>::pi) {
-            return kalman_fitter_status::ERROR_THETA_ZERO;
-        }
-
-        if (!std::isfinite(bound_params.phi())) {
-            return kalman_fitter_status::ERROR_INVERSION;
-        }
+        const scalar chi2_val{getter::element(chi2, 0, 0)};
 
-        if (std::abs(bound_params.qop()) == 0.f) {
-            return kalman_fitter_status::ERROR_QOP_ZERO;
-        }
-
-        if (getter::element(chi2, 0, 0) < 0.f) {
+        if (chi2_val < 0.f) {
             return kalman_fitter_status::ERROR_UPDATER_CHI2_NEGATIVE;
         }
 
-        if (!std::isfinite(getter::element(chi2, 0, 0))) {
+        if (!std::isfinite(chi2_val)) {
             return kalman_fitter_status::ERROR_UPDATER_CHI2_NOT_FINITE;
         }
 
-        // Set the track state parameters
+        // Set the chi2 for this track and measurement
         trk_state.filtered_params().set_vector(filtered_vec);
         trk_state.filtered_params().set_covariance(filtered_cov);
-        trk_state.filtered_chi2() = getter::element(chi2, 0, 0);
+        trk_state.filtered_chi2() = chi2_val;
 
-        // Wrap the phi in the range of [-pi, pi]
-        wrap_phi(trk_state.filtered_params());
+        // Wrap the phi and theta angles in their valid ranges
+        normalize_angles(trk_state.filtered_params());
+
+        const scalar theta = trk_state.filtered_params().theta();
+        if (theta <= 0.f || theta >= 2.f * constant<traccc::scalar>::pi) {
+            return kalman_fitter_status::ERROR_THETA_POLE;
+        }
 
         assert(!trk_state.filtered_params().is_invalid());
 

core/include/traccc/fitting/kalman_filter/is_line_visitor.hpp

@@ -7,20 +7,31 @@
 
 #pragma once
 
+#include <detray/geometry/mask.hpp>
 #include <detray/geometry/shapes/line.hpp>
+#include <detray/geometry/surface.hpp>
 
 #include "traccc/definitions/qualifiers.hpp"
 
-namespace traccc {
+namespace traccc::detail {
 
-struct is_line_visitor {
-    template <typename mask_group_t, typename index_t>
-    [[nodiscard]] TRACCC_HOST_DEVICE inline bool operator()(
-        const mask_group_t& /*mask_group*/, const index_t& /*index*/) const {
-        using shape_type = typename mask_group_t::value_type::shape;
-        return std::is_same_v<shape_type, detray::line<true>> ||
-               std::is_same_v<shape_type, detray::line<false>>;
+/// @returns true if the surface has "line" shape
+template <typename detector_t>
+[[nodiscard]] TRACCC_HOST_DEVICE bool constexpr is_line(
+    const detray::geometry::surface<detector_t> sf) {
+    using algebra_t = typename detector_t::algebra_type;
+    using straw_tube = detray::mask<detray::line<false>, algebra_t>;
+    using wire_cell = detray::mask<detray::line<true>, algebra_t>;
+
+    if constexpr (detector_t::masks::template is_defined<straw_tube>() ||
+                  detector_t::masks::template is_defined<wire_cell>()) {
+        return (sf.shape_id() ==
+                detector_t::masks::template get_id<straw_tube>()) ||
+               (sf.shape_id() ==
+                detector_t::masks::template get_id<wire_cell>());
+    } else {
+        return false;
     }
 };
 
-}  // namespace traccc
+}  // namespace traccc::detail

core/include/traccc/fitting/kalman_filter/kalman_actor.hpp

@@ -164,7 +164,7 @@ struct kalman_actor : detray::actor {
             // Run Kalman Gain Updater
             const auto sf = navigation.get_surface();
 
-            const bool is_line = sf.template visit_mask<is_line_visitor>();
+            const bool is_line = detail::is_line(sf);
 
             kalman_fitter_status res = kalman_fitter_status::SUCCESS;
 
@@ -173,6 +173,9 @@ struct kalman_actor : detray::actor {
                                   kalman_actor_direction::FORWARD_ONLY ||
                               direction_e ==
                                   kalman_actor_direction::BIDIRECTIONAL) {
+                    // Wrap the phi and theta angles in their valid ranges
+                    normalize_angles(propagation._stepping.bound_params());
+
                     // Forward filter
                     res = gain_matrix_updater<algebra_t>{}(
                         trk_state, actor_state.m_measurements,
@@ -215,7 +218,9 @@ struct kalman_actor : detray::actor {
             actor_state.next();
 
             // Flag renavigation of the current candidate
-            navigation.set_high_trust();
+            if (math::fabs(navigation()) > 1.f * unit<float>::um) {
+                navigation.set_high_trust();
+            }
         }
     }
 };