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Commit 1289fcdd authored by Sergey Gorbunov's avatar Sergey Gorbunov
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L1: bugfix in filtration

parent 382140f0
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Pipeline #18424 passed
......@@ -42,7 +42,7 @@ inline void FilterTime(L1TrackPar& T, fvec t, fvec dt, fvec timeInfo = 1., fvec
fvec wi = w / (dt2 + 1.0000001f * HCH);
fvec zeta = T.t - t;
fvec zetawi = zeta / ((maskDoFilter & dt2) + HCH);
fvec zetawi = w * zeta / ((maskDoFilter & dt2) + HCH);
//T.chi2 += maskDoFilter & (zeta * zetawi);
T.chi2 += zeta * zeta * wi;
......@@ -106,14 +106,14 @@ inline void L1Filter(L1TrackPar& T, const L1UMeasurementInfo& info, fvec u, fvec
// it helps to keep the initial track errors reasonably small
// the calculations in the covariance matrix are not affected
//const fvec maskDoFilter = (HCH < info.sigma2 * 16.f);
const fvec maskDoFilter = _f32vec4_true;
const fvec maskDoFilter = (HCH < info.sigma2 * 16.f);
//const fvec maskDoFilter = _f32vec4_true;
// correction to HCH is needed for the case when sigma2 is so small
// with respect to HCH that it disappears due to the roundoff error
//
fvec wi = w / (info.sigma2 + 1.0000001f * HCH);
fvec zetawi = zeta / ((maskDoFilter & info.sigma2) + HCH);
fvec zetawi = w * zeta / ((maskDoFilter & info.sigma2) + HCH);
// T.chi2 += maskDoFilter & (zeta * zetawi);
T.chi2 += zeta * zeta * wi;
......
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