// nearest neighbor interpolation
double DepthMap::nearestCost(const Vector2d pt, const int h) const
{
int xd = xConv(pt[0]);
int yd = yConv(pt[1]);
if (isValid(xd, yd, h)) return cost(xd, yd, h);
else return OUT_OF_RANGE;
}
// nearest neighbor interpolation
double DepthMap::nearestCost(const int u, const int v, const int h) const
{
int xd = xConv(u);
int yd = yConv(v);
if (isValid(xd, yd, h)) return cost(xd, yd, h);
else return OUT_OF_RANGE;
}
bool DepthMap::pushHypothesis(const Vector3d & X, const double sigmaVal)
{
Vector2d pt;
if (not cameraPtr->projectPoint(X, pt)) return false;
const int x = xConv(pt[0]);
const int y = yConv(pt[1]);
const double d = X.norm();
return pushHypothesis(x, y, d, sigmaVal);
}
vector<int> DepthMap::getIdxVec(const Vector2dVec & queryPointVec) const
{
vector<int> outIdxVec;
if(queryPointVec.size()!=0)
{
for(int i = 0; i < queryPointVec.size(); i++)
{
const int xd = xConv(queryPointVec[i][0]);
const int yd = yConv(queryPointVec[i][1]);
if (isValid(xd, yd)) outIdxVec.push_back( xd + yd*xMax );
else outIdxVec.push_back(-1); // Idx of -1 to correspond to error
}
}
else
{
for(int i=0; i < hStep; i++) // hStep === xMax * yMax
{
if (valVec[i] >= MIN_DEPTH) outIdxVec.push_back(i);
}
}
return outIdxVec;
}
void AnalyzeClipping(TString inputWaveName = "sum trigger input ch5 960mV",
TString outputWaveName = "sum trigger output ch5 - 2V clip - 960mV input",
Double_t inputDelay = 1.1E-8, Double_t lowerCut = 16E-9, Double_t upperCut = 23E-9,
const char *inFile = "Data.root",const char *WaveformsFile = "Waveforms.root") {
//try to access data file and in case of failure return
if(gSystem->AccessPathName(inFile,kFileExists)) {
cout << "Error: file " << inFile << " does not exsist. Run .x DataParse.C to create it" << endl;
return;
}
TFile *f = TFile::Open(inFile);
TFolder *dataSet;
TString dataFolderS = "SumTriggerBoardData";
dataFolderS.Append(";1");
dataSet = (TFolder*)f->Get(dataFolderS);
cout << dataSet << endl;
cout << dataSet->GetName() << endl;
Int_t nScope = 150; // number of measurements done by the scope evey time
//try to access waveforms file and in case of failure return
if(gSystem->AccessPathName(WaveformsFile,kFileExists)) {
cout << "Error: file " << WaveformsFile << " does not exsist. Run .x WaveformsFileMaker.C to create it" << endl;
return;
}
TFile *f = TFile::Open(WaveformsFile);
TList *listOfKeys = f->GetListOfKeys();
Int_t numberOfKeys = listOfKeys->GetEntries();
TList *listOfGraphs = new TList();
// if the waveform file name begins with the string "comparator" it goes in this list
TList *listOfCompWaves = new TList();
// if the waveform file name begins with the string "sum output" it goes in this list
TList *listOfAdderWaves = new TList();
for(Int_t i = 0; i < numberOfKeys; i++) {
TString *keyName = new TString(listOfKeys->At(i)->GetName());
TTree *tree = (TTree*)f->Get(keyName->Data());
Float_t x = 0;
Float_t y = 0;
tree->SetBranchAddress("x",&x);
tree->SetBranchAddress("y",&y);
Int_t nentries = tree->GetEntries();
TString *gName = new TString(keyName->Data());
gName->Append(" graph");
TGraphErrors *gWave = new TGraphErrors(nentries);
gWave->SetName(gName->Data());
gWave->SetTitle(gName->Data());
gWave->GetXaxis()->SetTitle("Time");
gWave->GetYaxis()->SetTitle("Voltage");
for (Int_t j = 0; j < nentries; j++) {
tree->GetEntry(j);
gWave->SetPoint(j,x,y);
}
listOfGraphs->Add(gWave);
}
// Global variables
Double_t *xInput, *xOutput, *yInput, *yOutput;
// V input 960 mV
TString path = "Clipping/Output width analysis/Channel 5/V input 960mV/";
TGraphErrors *gClip960mV = TBGraphErrors(dataSet,path,"V clip","Output FWHM",1,nScope);
gClip960mV->SetMarkerStyle(20);
gClip960mV->SetMarkerSize(0.8);
gClip960mV->GetXaxis()->SetTitle("V clipping (mV)");
gClip960mV->GetYaxis()->SetTitle("Output FWHM (ns)");
TCanvas *cClip960mV = new TCanvas("cClip960mV","Output FWHM in function of V clipping",800,600);
gClip960mV->Draw("APEL");
// Expected output FWHM
TGraphErrors *gInput960mV = listOfGraphs->FindObject("sum trigger input ch5 960mV graph");
Double_t *xClip = gClip960mV->GetX();
Int_t nClip = gClip960mV->GetN();
cout << "nClip = " << nClip << endl;
Long64_t graphPoints = gInput960mV->GetN();
yInput = gInput960mV->GetY();
xInput = gInput960mV->GetX();
vector<double> xFirst(nClip);
vector<double> xLast(nClip);
Double_t half;
Int_t flag = 0;
vector<double> yConv(graphPoints);
for(Int_t i = 0; i < graphPoints; i++) {
yConv[i] = -(yInput[i]);
yConv[i] *= 1000;
if(xInput[i] + inputDelay < lowerCut || xInput[i] + inputDelay > upperCut)
yConv[i] = 0;
}
Double_t yInput960mVMax = TMath::MaxElement(graphPoints,&yConv[0]);
for(Int_t i = 0; i < nClip; i++) {
if(xClip[i] > yInput960mVMax) half = yInput960mVMax;
else half = xClip[i];
half /=2;
cout << half << endl;
flag = 0;
for(Int_t j = 0; j < graphPoints - 3; j++) {
if((yConv[j + 1] - half)*(yConv[j] - half) < 0 && flag == 0) {
xFirst[i] = xInput[j];
flag = 1;
cout << "found first point! " << xFirst[i] << endl;
continue;
}
if((yConv[j + 1] - half)*(yConv[j] - half) < 0 && flag == 1) {
xLast[i] = xInput[j];
cout << "found last point! " << xLast[i] << endl;
break;
}
}
}
vector<double> expectedFWHM960mV(nClip);
for(Int_t i = 0; i < expectedFWHM960mV.size(); i++) {
expectedFWHM960mV[i] = xLast[i] - xFirst[i];
// convert from seconds to nanoseconds
expectedFWHM960mV[i] *= 10E8;
cout << "expectedFWHM960mV[" << i << "] = " << expectedFWHM960mV[i] << endl;
}
// expected FWHM 960 mV graph
TGraphErrors *gExpClip960mV = new TGraphErrors(nClip,xClip,&expectedFWHM960mV[0],0,0);
gExpClip960mV->SetLineStyle(7);
gExpClip960mV->SetMarkerStyle(20);
gExpClip960mV->SetMarkerSize(0.8);
// V input 1.9 V
path = "Clipping/Output width analysis/Channel 5/V input 1.9V/";
TGraphErrors *gClip1Point9V = TBGraphErrors(dataSet,path,"V clip","Output FWHM",1,nScope);
gClip1Point9V->SetMarkerStyle(20);
gClip1Point9V->SetMarkerSize(0.8);
gClip1Point9V->SetLineColor(kRed);
gClip1Point9V->GetXaxis()->SetTitle("V clipping (mV)");
gClip1Point9V->GetYaxis()->SetTitle("Output FWHM (ns)");
TCanvas *cClip1Point9V = new TCanvas("cClip1Point9V","Output FWHM in function of V clipping",800,600);
gClip1Point9V->Draw("APEL");
// Expected output FWHM
TGraphErrors *gInput1Point9V = listOfGraphs->FindObject("sum trigger input ch5 1900mV graph");
xClip = gClip1Point9V->GetX();
nClip = gClip1Point9V->GetN();
cout << "nClip = " << nClip << endl;
graphPoints = gInput1Point9V->GetN();
yInput = gInput1Point9V->GetY();
xInput = gInput1Point9V->GetX();
vector<double> xFirst(nClip);
vector<double> xLast(nClip);
flag = 0;
vector<double> yConv(graphPoints);
for(Int_t i = 0; i < graphPoints; i++) {
yConv[i] = -(yInput[i]);
yConv[i] *= 1000;
if(xInput[i] + inputDelay < lowerCut || xInput[i] + inputDelay > upperCut) yConv[i] = 0;
}
Double_t yInput1Point9VMax = TMath::MaxElement(graphPoints,&yConv[0]);
for(Int_t i = 0; i < nClip; i++) {
if(xClip[i] > yInput1Point9VMax) half = yInput1Point9VMax;
else half = xClip[i];
half /= 2;
cout << half << endl;
flag = 0;
for(Int_t j = 0; j < graphPoints - 3; j++) {
if((yConv[j + 1] - half)*(yConv[j] - half) < 0 && flag == 0) {
xFirst[i] = xInput[j];
flag = 1;
cout << "found first point! " << xFirst[i] << endl;
continue;
}
if((yConv[j + 1] - half)*(yConv[j] - half) < 0 && flag == 1) {
xLast[i] = xInput[j];
cout << "found last point! " << xLast[i] << endl;
break;
}
}
}
vector<double> expectedFWHM1Point9V(nClip);
for(Int_t i = 0; i < expectedFWHM1Point9V.size(); i++) {
expectedFWHM1Point9V[i] = xLast[i] - xFirst[i];
// convert from seconds to nanoseconds
expectedFWHM1Point9V[i] *= 10E8;
cout << "expectedFWHM1Point9V[" << i << "] = " << expectedFWHM1Point9V[i] << endl;
}
// expected FWHM 960 mV graph
TGraphErrors *gExpClip1Point9V = new TGraphErrors(nClip,xClip,&expectedFWHM1Point9V[0],0,0);
gExpClip1Point9V->SetLineStyle(7);
gExpClip1Point9V->SetLineColor(kRed);
gExpClip1Point9V->SetMarkerStyle(20);
gExpClip1Point9V->SetMarkerSize(0.8);
// Collection of Output FWHM graphs, 2 amplitudes, serveral V clipping
TMultiGraph *mgClipOutputFWHM = new TMultiGraph();
mgClipOutputFWHM->SetTitle("Collection of Output FWHM graphs, 2 amplitudes, serveral V clipping");
mgClipOutputFWHM->Add(gClip1Point9V);
mgClipOutputFWHM->Add(gClip960mV);
mgClipOutputFWHM->Add(gExpClip960mV);
mgClipOutputFWHM->Add(gExpClip1Point9V);
TCanvas *cmgClipOutputFWHM = new TCanvas("cmgClipOutputFWHM","Collection of Output FWHM graphs, 2 amplitudes, serveral V clipping");
mgClipOutputFWHM->Draw("APEL");
cmgClipOutputFWHM->Modified();
mgClipOutputFWHM->GetXaxis()->SetTitle("V clipping (mV)");
mgClipOutputFWHM->GetYaxis()->SetTitle("Output FWHM (ns)");
cmgClipOutputFWHM->Update();
legend = new TLegend(0.6,0.67,0.89,0.86,"V input");
legend->AddEntry(gClip1Point9V, "1.9 V", "lp");
legend->AddEntry(gClip960mV, "960 mV", "lp");
legend->AddEntry(gExpClip960mV, "Exp 960 mV", "lp");
legend->AddEntry(gExpClip1Point9V, "Exp 1.9 V", "lp");
legend->SetTextSize(0.04);
legend->SetMargin(0.5);
legend->Draw();
// Hysteresis plot: V output (t) in function of V input (t) for several clipping values
// variables used in the analysis
Long64_t iInputMax, iOutputMax;
Float_t xInputMax, xOutputMax, xInputHalf, xOutputHalf;
Double_t InputMax, OutputMax, InputHalf, OutputHalf;
Long64_t firstIndex = 0;
Long64_t lastIndex = 0;
Long64_t inputGraphPoints = 0;
Long64_t outputGraphPoints = 0;
// hard coded values to cut the x axis of both waves
// Input wave
inputWaveName += " graph";
TGraphErrors *gInput = listOfGraphs->FindObject(inputWaveName);
gInput->SetLineColor(kRed);
gInput->SetLineWidth(2);
xInput = gInput->GetX();
yInput = gInput->GetY();
inputGraphPoints = gInput->GetN();
cout << inputGraphPoints << endl;
// Invert the input wave
for(Int_t i = 0; i < inputGraphPoints; i++) {
yInput[i] = -(yInput[i]);
}
// find the x at which the graph reaches the max value
iInputMax = TMath::LocMax(inputGraphPoints, yInput);
xInputMax = xInput[iInputMax];
cout << "iInputMax = " << iInputMax << endl;
cout << "xInputMax = " << xInputMax << endl;
InputMax = gInput->Eval(xInput[iInputMax]);
cout << "InputMax = " << InputMax << endl;
// Output wave
outputWaveName += " graph";
TGraphErrors *gOutput = listOfGraphs->FindObject(outputWaveName);
gOutput->SetLineWidth(2);
xOutput = gOutput->GetX();
yOutput = gOutput->GetY();
outputGraphPoints = gOutput->GetN();
// find the x at which the graph reaches the max value
iOutputMax = TMath::LocMax(outputGraphPoints, yOutput);
xOutputMax = xOutput[iOutputMax];
cout << "iOutputMax = " << iOutputMax << endl;
cout << "xOutputMax = " << xOutputMax << endl;
OutputMax = gOutput->Eval(xOutput[iOutputMax]);
cout << "OutputMax = " << OutputMax << endl;
// compute x delay between max points
Double_t delay = xOutputMax - xInputMax;
cout << "delay = " << delay << endl;
// Shift the x axis of the input graph and create a new graph with only a portion of the first graph
for(Int_t i = 0; i < inputGraphPoints; i++) {
xInput[i] += inputDelay;
if(xInput[i] >= lowerCut) {
if(firstIndex == 0) firstIndex = i;
}
if(xInput[i] <= upperCut)
lastIndex = i;
}
cout << "firstIndex = " << firstIndex << endl;
cout << "lastIndex = " << lastIndex << endl;
cout << "xInput[firstIndex] = " << xInput[firstIndex] << endl;
cout << lastIndex - firstIndex << endl;
Long64_t input2GraphPoints = lastIndex - firstIndex;
TGraphErrors *gInput2 = new TGraphErrors(input2GraphPoints);
gInput2->SetTitle(inputWaveName);
for(Int_t i = firstIndex; i <= lastIndex; i++) {
gInput2->SetPoint(i - firstIndex,xInput[i],yInput[i]);
}
TCanvas *cgInput2 = new TCanvas("cgInput2", "cgInput2", 1200,800);
gInput2->Draw("AL");
// create a new graph with only a portion of the first graph
firstIndex = 0;
lastIndex = 0;
for(Int_t i = 0; i < outputGraphPoints; i++) {
if(xOutput[i] >= lowerCut) {
if(firstIndex == 0) firstIndex = i;
}
if(xOutput[i] <= upperCut)
lastIndex = i;
}
cout << "firstIndex = " << firstIndex << endl;
cout << "lastIndex = " << lastIndex << endl;
cout << "xOutput[firstIndex] = " << xOutput[firstIndex] << endl;
cout << lastIndex - firstIndex << endl;
Long64_t output2GraphPoints = lastIndex - firstIndex;
TGraphErrors *gOutput2 = new TGraphErrors(output2GraphPoints);
gOutput2->SetTitle(outputWaveName);
for(Int_t i = firstIndex; i <= lastIndex; i++) {
gOutput2->SetPoint(i - firstIndex,xOutput[i],yOutput[i]);
}
TCanvas *cgOutput2 = new TCanvas("cgOutput2", "cgOutput2", 1200,800);
gOutput2->Draw("AL");
// first hysteresis plot
Double_t step;
Double_t *xInput2;
xInput2 = gInput2->GetX();
cout << "xInput2[input2GraphPoints - 1] = " << xInput2[input2GraphPoints - 1] << endl;
cout << "xInput2[0] = " << xInput2[0] << endl;
step = (xInput2[input2GraphPoints - 1] - xInput2[0])/output2GraphPoints;
cout << "step = " << step << endl;
// in case gInput2 and gOutput2 contain a different number of points create the hysteresis plot with gOutput2 points
// and modify the yInput2 to match the number of points of yOutput2
vector<double> yInput2;
for(Int_t i = 0; i < output2GraphPoints; i++) {
yInput2.push_back(gInput2->Eval(xInput2[0] + i*step));
}
Double_t *yOutput2;
yOutput2 = gOutput2->GetY();
TGraphErrors *gHyst = new TGraphErrors(output2GraphPoints, &yInput2.at(0),yOutput2);
gHyst->SetTitle("Hysteresis plot");
gHyst->GetXaxis()->SetTitle("Vin(t) [mV]");
gHyst->GetYaxis()->SetTitle("Vout(t) [mV]");
gHyst->GetYaxis()->SetTitleOffset(1.4);
TCanvas *cgHyst = new TCanvas("cgHyst", "cgHyst", 1200,800);
cgHyst->SetLeftMargin(0.12);
gHyst->Draw("AL");
// collection of graphs
TMultiGraph *mgInputOutput = new TMultiGraph();
mgInputOutput->Add(gInput);
mgInputOutput->Add(gOutput);
mgInputOutput->SetTitle("Input and output");
TCanvas *cmgInputOutput = new TCanvas("cmgInputOutput", "Input and output", 1200,800);
mgInputOutput->Draw("AL");
cmgInputOutput->Update();
legend = new TLegend(0.65,0.68,0.86,0.86);
legend->AddEntry(gInput, "Input", "lp");
legend->AddEntry(gOutput, "Output", "lp");
legend->SetMargin(0.4);
legend->SetTextSize(0.04);
legend->Draw();
cmgInputOutput->Modified();
}
bool DepthMap::pushImageHypothesis(const int u, const int v, const double d, const double sigmaVal)
{
return pushHypothesis(xConv(u), yConv(v), d, sigmaVal);
}
