From a23fe6d429ca84de66b01f93e776db69e9aba27e Mon Sep 17 00:00:00 2001
From: felix-russo <72298366+felix-russo@users.noreply.github.com>
Date: Tue, 26 Sep 2023 15:16:48 +0200
Subject: [PATCH 01/20] feat: extract impact parameters and their covariance
 matrix (#2464)

Allow extraction of the

- impact parameters (i.e., `d0`, `z0`, and, optionally, `t`) and
- the corresponding covariance matrix

from `GenericBoundTrackParameters`
---
 .../EventData/GenericBoundTrackParameters.hpp | 36 +++++++++++++++++++
 .../Vertexing/AdaptiveGridTrackDensity.ipp    |  2 +-
 .../Vertexing/GaussianGridTrackDensity.ipp    |  2 +-
 3 files changed, 38 insertions(+), 2 deletions(-)

diff --git a/Core/include/Acts/EventData/GenericBoundTrackParameters.hpp b/Core/include/Acts/EventData/GenericBoundTrackParameters.hpp
index a4b6f2fced5..833b7851717 100644
--- a/Core/include/Acts/EventData/GenericBoundTrackParameters.hpp
+++ b/Core/include/Acts/EventData/GenericBoundTrackParameters.hpp
@@ -116,10 +116,46 @@ class GenericBoundTrackParameters {
   ParametersVector& parameters() { return m_params; }
   /// Parameters vector.
   const ParametersVector& parameters() const { return m_params; }
+  /// Vector of spatial impact parameters (i.e., d0 and z0)
+  ActsVector<2> spatialImpactParameters() const { return m_params.head<2>(); }
+  /// Vector of spatial and temporal impact parameters (i.e., d0, z0, and t)
+  ActsVector<3> impactParameters() const {
+    ActsVector<3> ip;
+    ip.template head<2>() = m_params.template head<2>();
+    ip(2) = m_params(eBoundTime);
+    return ip;
+  }
+
   /// Optional covariance matrix.
   std::optional<CovarianceMatrix>& covariance() { return m_cov; }
   /// Optional covariance matrix.
   const std::optional<CovarianceMatrix>& covariance() const { return m_cov; }
+  /// Covariance matrix of the spatial impact parameters (i.e., of d0 and z0)
+  std::optional<ActsSquareMatrix<2>> spatialImpactParameterCovariance() const {
+    if (not m_cov.has_value()) {
+      return std::nullopt;
+    }
+
+    return m_cov.value().template topLeftCorner<2, 2>();
+  }
+
+  /// Covariance matrix of the spatial and temporal impact parameters (i.e., of
+  /// d0, z0, and t)
+  std::optional<ActsSquareMatrix<3>> impactParameterCovariance() const {
+    if (not m_cov.has_value()) {
+      return std::nullopt;
+    }
+
+    ActsSquareMatrix<3> ipCov;
+    ipCov.template topLeftCorner<2, 2>() =
+        m_cov.value().template topLeftCorner<2, 2>();
+    ipCov.template block<2, 1>(0, 2) =
+        m_cov.value().template block<2, 1>(0, eBoundTime);
+    ipCov.template block<1, 2>(2, 0) =
+        m_cov.value().template block<1, 2>(eBoundTime, 0);
+    ipCov(2, 2) = m_cov.value()(eBoundTime, eBoundTime);
+    return ipCov;
+  }
 
   /// Access a single parameter value identified by its index.
   ///
diff --git a/Core/include/Acts/Vertexing/AdaptiveGridTrackDensity.ipp b/Core/include/Acts/Vertexing/AdaptiveGridTrackDensity.ipp
index 1ae09a355b3..8f527132213 100644
--- a/Core/include/Acts/Vertexing/AdaptiveGridTrackDensity.ipp
+++ b/Core/include/Acts/Vertexing/AdaptiveGridTrackDensity.ipp
@@ -78,7 +78,7 @@ template <int trkGridSize>
 typename Acts::AdaptiveGridTrackDensity<trkGridSize>::DensityMap
 Acts::AdaptiveGridTrackDensity<trkGridSize>::addTrack(
     const Acts::BoundTrackParameters& trk, DensityMap& mainDensityMap) const {
-  SquareMatrix2 cov = trk.covariance().value().block<2, 2>(0, 0);
+  SquareMatrix2 cov = trk.spatialImpactParameterCovariance().value();
   float d0 = trk.parameters()[0];
   float z0 = trk.parameters()[1];
 
diff --git a/Core/include/Acts/Vertexing/GaussianGridTrackDensity.ipp b/Core/include/Acts/Vertexing/GaussianGridTrackDensity.ipp
index f54cf13d613..2ed853993d2 100644
--- a/Core/include/Acts/Vertexing/GaussianGridTrackDensity.ipp
+++ b/Core/include/Acts/Vertexing/GaussianGridTrackDensity.ipp
@@ -58,7 +58,7 @@ std::pair<int, typename Acts::GaussianGridTrackDensity<
                    mainGridSize, trkGridSize>::TrackGridVector>
 Acts::GaussianGridTrackDensity<mainGridSize, trkGridSize>::addTrack(
     const Acts::BoundTrackParameters& trk, MainGridVector& mainGrid) const {
-  SquareMatrix2 cov = trk.covariance().value().block<2, 2>(0, 0);
+  SquareMatrix2 cov = trk.spatialImpactParameterCovariance().value();
   float d0 = trk.parameters()[0];
   float z0 = trk.parameters()[1];
 

From ffc9e1233bee6cd5961308d36e4f5df7f4c7e67a Mon Sep 17 00:00:00 2001
From: Amperiadou Dimitra <63058524+dimitra97@users.noreply.github.com>
Date: Wed, 27 Sep 2023 16:40:40 +0200
Subject: [PATCH 02/20] fix: Properly sort candidates in
 `NavigationStateUpdators` (#2483)

This PR introduces some changes in the surface candidates updators.
I moved some functions from the `SurfaceCandidatesUpdator.hpp` to the
`NavigationStateUpdators.hpp` so they can be visible to the updators not
defined in the `SurfaceCandidatesUpdators.hpp`
The flag `sort` indicates whether sorting is needed or not. A case where
the individual updators should not do sorting is when they are passed as
updators to the `Chained Updator`, where the sorting needs to be done in
the end in the `Chained Updator`.
I think doing twice the sorting when using the` Chained Updator` takes a
lot of time.

---------

Co-authored-by: Dimitra Amperiadou <dimitra@dimitra-tosh.station>
Co-authored-by: Andreas Stefl <stefl.andreas@gmail.com>
Co-authored-by: kodiakhq[bot] <49736102+kodiakhq[bot]@users.noreply.github.com>
---
 .../Acts/Navigation/DetectorNavigator.hpp     | 12 +++++
 .../Navigation/MultiLayerSurfacesUpdator.hpp  | 10 ++--
 .../Navigation/NavigationStateUpdators.hpp    | 33 +++++++++++++
 .../Navigation/SurfaceCandidatesUpdators.hpp  | 46 -------------------
 .../NavigationStateUpdatorsTests.cpp          | 26 ++++-------
 5 files changed, 60 insertions(+), 67 deletions(-)

diff --git a/Core/include/Acts/Navigation/DetectorNavigator.hpp b/Core/include/Acts/Navigation/DetectorNavigator.hpp
index 9017225a803..b65ebdbe7a3 100644
--- a/Core/include/Acts/Navigation/DetectorNavigator.hpp
+++ b/Core/include/Acts/Navigation/DetectorNavigator.hpp
@@ -411,6 +411,18 @@ class DetectorNavigator {
     }
 
     nState.currentVolume->updateNavigationState(state.geoContext, nState);
+
+    // Sort properly the surface candidates
+    auto& nCandidates = nState.surfaceCandidates;
+    std::sort(nCandidates.begin(), nCandidates.end(),
+              [&](const auto& a, const auto& b) {
+                // The two path lengths
+                ActsScalar pathToA = a.objectIntersection.pathLength();
+                ActsScalar pathToB = b.objectIntersection.pathLength();
+                return pathToA < pathToB;
+              });
+    // Set the surface candidate
+    nState.surfaceCandidate = nCandidates.begin();
   }
 
   template <typename propagator_state_t, typename stepper_t>
diff --git a/Core/include/Acts/Navigation/MultiLayerSurfacesUpdator.hpp b/Core/include/Acts/Navigation/MultiLayerSurfacesUpdator.hpp
index b71ef8cba41..95e90066c77 100644
--- a/Core/include/Acts/Navigation/MultiLayerSurfacesUpdator.hpp
+++ b/Core/include/Acts/Navigation/MultiLayerSurfacesUpdator.hpp
@@ -29,17 +29,17 @@ class MultiLayerSurfacesUpdatorImpl : public INavigationDelegate {
   /// The grid where the indices are stored
   grid_type grid;
 
+  /// The path generator
+  path_generator pgenerator;
+
   /// These are the cast parameters - copied from constructor
   std::array<BinningValue, grid_type::DIM> casts{};
 
   /// A transform to be applied to the position
   Transform3 transform = Transform3::Identity();
 
-  /// The path generator
-  path_generator pgenerator;
-
   /// @brief  Constructor for a grid based surface attacher
-  ///@param igrid the grid that is moved into this attacher
+  /// @param igrid the grid that is moved into this attacher
   /// @param icasts is the cast values array
   /// @param itr a transform applied to the global position
   MultiLayerSurfacesUpdatorImpl(
@@ -67,6 +67,8 @@ class MultiLayerSurfacesUpdatorImpl : public INavigationDelegate {
 
     resolveDuplicates(gctx, surfCandidates);
     SurfacesFiller::fill(nState, surfCandidates);
+
+    updateCandidates(gctx, nState);
   }
 
   /// Cast into a lookup position
diff --git a/Core/include/Acts/Navigation/NavigationStateUpdators.hpp b/Core/include/Acts/Navigation/NavigationStateUpdators.hpp
index 3f5dc4cb3d8..b1cdb1278e1 100644
--- a/Core/include/Acts/Navigation/NavigationStateUpdators.hpp
+++ b/Core/include/Acts/Navigation/NavigationStateUpdators.hpp
@@ -10,7 +10,9 @@
 
 #include "Acts/Definitions/Algebra.hpp"
 #include "Acts/Definitions/Common.hpp"
+#include "Acts/Detector/Portal.hpp"
 #include "Acts/Navigation/NavigationDelegates.hpp"
+#include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/BinningType.hpp"
 #include "Acts/Utilities/Enumerate.hpp"
 #include "Acts/Utilities/IAxis.hpp"
@@ -20,8 +22,37 @@
 #include <memory>
 
 namespace Acts {
+
 namespace Experimental {
 
+/// Helper method to update the candidates (portals/surfaces),
+/// this can be called for initial surface/portal estimation,
+/// but also during the navigation to update the current list
+/// of candidates.
+///
+/// @param gctx is the Geometry context of this call
+/// @param nState [in,out] is the navigation state to be updated
+///
+/// @todo for surfaces skip the non-reached ones, while keep for portals
+inline void updateCandidates(const GeometryContext& gctx,
+                             NavigationState& nState) {
+  const auto& position = nState.position;
+  const auto& direction = nState.direction;
+  auto& nCandidates = nState.surfaceCandidates;
+
+  for (auto& c : nCandidates) {
+    // Get the surface representation: either native surfcae of portal
+    const Surface& sRep =
+        c.surface != nullptr ? *c.surface : c.portal->surface();
+
+    // Get the intersection @todo make a templated intersector
+    // TODO surface tolerance
+    auto sIntersection = sRep.intersect(gctx, position, direction,
+                                        c.boundaryCheck, s_onSurfaceTolerance);
+    c.objectIntersection = sIntersection[c.objectIntersection.index()];
+  }
+}
+
 /// @brief  This sets a single object, e.g. single surface or single volume
 /// @tparam object_type the type of the object to be filled
 /// @tparam filler_type is the helper to fill the object into nState
@@ -121,6 +152,8 @@ class IndexedUpdatorImpl : public INavigationDelegate {
     const auto& entry = grid.atPosition(castPosition(nState.position));
     auto extracted = extractor.extract(gctx, nState, entry);
     filler_type::fill(nState, extracted);
+
+    updateCandidates(gctx, nState);
   }
 
   /// Cast into a lookup position
diff --git a/Core/include/Acts/Navigation/SurfaceCandidatesUpdators.hpp b/Core/include/Acts/Navigation/SurfaceCandidatesUpdators.hpp
index 13fbb042f20..f516d29e766 100644
--- a/Core/include/Acts/Navigation/SurfaceCandidatesUpdators.hpp
+++ b/Core/include/Acts/Navigation/SurfaceCandidatesUpdators.hpp
@@ -25,52 +25,6 @@
 namespace Acts {
 namespace Experimental {
 
-/// Helper method to update the candidates (portals/surfaces),
-/// this can be called for initial surface/portal estimation,
-/// but also during the navigation to update the current list
-/// of candidates.
-///
-/// @param gctx is the Geometry context of this call
-/// @param nState [in,out] is the navigation state to be updated
-///
-/// @todo for surfaces skip the non-reached ones, while keep for portals
-inline static void updateCandidates(const GeometryContext& gctx,
-                                    NavigationState& nState) {
-  const auto& position = nState.position;
-  const auto& direction = nState.direction;
-  auto& nCandidates = nState.surfaceCandidates;
-
-  for (auto& c : nCandidates) {
-    // Get the surface representation: either native surfcae of portal
-    const Surface& sRep =
-        c.surface != nullptr ? *c.surface : c.portal->surface();
-
-    // Get the intersection @todo make a templated intersector
-    // TODO surface tolerance
-    auto sIntersection = sRep.intersect(gctx, position, direction,
-                                        c.boundaryCheck, s_onSurfaceTolerance);
-    c.objectIntersection = sIntersection[c.objectIntersection.index()];
-  }
-  // Sort and stuff non-allowed solutions to the end
-  std::sort(
-      nCandidates.begin(), nCandidates.end(),
-      [&](const auto& a, const auto& b) {
-        // The two path lengths
-        ActsScalar pathToA = a.objectIntersection.pathLength();
-        ActsScalar pathToB = b.objectIntersection.pathLength();
-        if (pathToA + s_onSurfaceTolerance < nState.overstepTolerance or
-            std::abs(pathToA) < s_onSurfaceTolerance) {
-          return false;
-        } else if (pathToB + s_onSurfaceTolerance < nState.overstepTolerance or
-                   std::abs(pathToB) < s_onSurfaceTolerance) {
-          return true;
-        }
-        return pathToA < pathToB;
-      });
-  // Set the surface candidate
-  nState.surfaceCandidate = nCandidates.begin();
-}
-
 struct AllPortalsImpl : public INavigationDelegate {
   /// A ordered portal provider
   ///
diff --git a/Tests/UnitTests/Core/Navigation/NavigationStateUpdatorsTests.cpp b/Tests/UnitTests/Core/Navigation/NavigationStateUpdatorsTests.cpp
index ee1aff06d65..88acbb2860b 100644
--- a/Tests/UnitTests/Core/Navigation/NavigationStateUpdatorsTests.cpp
+++ b/Tests/UnitTests/Core/Navigation/NavigationStateUpdatorsTests.cpp
@@ -25,23 +25,15 @@
 #include <utility>
 #include <vector>
 
+#include "../Surfaces/SurfaceStub.hpp"
+
 // A test context
 Acts::GeometryContext tContext;
 
 namespace Acts {
 
-class Surface {};
-
 namespace Experimental {
 
-// A portal with a surfac
-class Portal {
- public:
-  std::shared_ptr<Surface> m_surface = nullptr;
-  Portal(std::shared_ptr<Surface> sf) : m_surface(std::move(sf)) {}
-  const Surface& surface() const { return (*m_surface.get()); }
-};
-
 class Detector;
 
 /// A detector volume
@@ -178,14 +170,14 @@ using AllSurfacesProvider = Acts::Experimental::StaticUpdatorImpl<
 using AllPortalsProvider = Acts::Experimental::StaticUpdatorImpl<
     Acts::Experimental::AllPortalsExtractor, Acts::Experimental::PortalsFiller>;
 
-auto surfaceA = std::make_shared<Acts::Surface>();
-auto surfaceB = std::make_shared<Acts::Surface>();
-auto surfaceC = std::make_shared<Acts::Surface>();
+auto surfaceA = Acts::Surface::makeShared<Acts::SurfaceStub>();
+auto surfaceB = Acts::Surface::makeShared<Acts::SurfaceStub>();
+auto surfaceC = Acts::Surface::makeShared<Acts::SurfaceStub>();
 
-auto pSurfaceA = std::make_shared<Acts::Surface>();
-auto pSurfaceB = std::make_shared<Acts::Surface>();
-auto portalA = std::make_shared<Acts::Experimental::Portal>(pSurfaceA);
-auto portalB = std::make_shared<Acts::Experimental::Portal>(pSurfaceB);
+auto pSurfaceA = Acts::Surface::makeShared<Acts::SurfaceStub>();
+auto pSurfaceB = Acts::Surface::makeShared<Acts::SurfaceStub>();
+auto portalA = Acts::Experimental::Portal::makeShared(pSurfaceA);
+auto portalB = Acts::Experimental::Portal::makeShared(pSurfaceB);
 
 BOOST_AUTO_TEST_SUITE(Experimental)
 

From 753dbec51ff7f885491877a7d89eb956d7733b8c Mon Sep 17 00:00:00 2001
From: "Alexander J. Pfleger" <70842573+AJPfleger@users.noreply.github.com>
Date: Thu, 28 Sep 2023 17:02:38 +0200
Subject: [PATCH 03/20] refactor: remove obsolete assignments due to
 `calculateTrackQuantities()`  (#2487)

With `calculateTrackQuantities(track);` we reset `track.nMeasurements()` and `track.nHoles()`, no need to set them before.
---
 Core/include/Acts/TrackFitting/KalmanFitter.hpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/Core/include/Acts/TrackFitting/KalmanFitter.hpp b/Core/include/Acts/TrackFitting/KalmanFitter.hpp
index 44412ef53f9..2ca4bb50955 100644
--- a/Core/include/Acts/TrackFitting/KalmanFitter.hpp
+++ b/Core/include/Acts/TrackFitting/KalmanFitter.hpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2016-2019 CERN for the benefit of the Acts project
+// Copyright (C) 2016-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -1150,8 +1150,6 @@ class KalmanFitter {
       track.covariance() = params.covariance().value();
       track.setReferenceSurface(params.referenceSurface().getSharedPtr());
     }
-    track.nMeasurements() = kalmanResult.measurementStates;
-    track.nHoles() = kalmanResult.measurementHoles;
 
     calculateTrackQuantities(track);
 
@@ -1289,8 +1287,6 @@ class KalmanFitter {
       track.covariance() = params.covariance().value();
       track.setReferenceSurface(params.referenceSurface().getSharedPtr());
     }
-    track.nMeasurements() = kalmanResult.measurementStates;
-    track.nHoles() = kalmanResult.measurementHoles;
 
     calculateTrackQuantities(track);
 

From 8b146dcfd671ffce618e7288822ae8fa886d6b02 Mon Sep 17 00:00:00 2001
From: felix-russo <72298366+felix-russo@users.noreply.github.com>
Date: Fri, 29 Sep 2023 13:25:53 +0200
Subject: [PATCH 04/20] feat: Add time to impact point estimation (#2414)

In this PR I:
- add the option of calculating the time at the 2D and the 3D point of closest approach (PCA) of a track to a vertex.
- implement unit tests for the above feature

If further refactor `ImpactPointEstimator` by
- providing a reference ([Track_Linearization_and_3D_PCA.pdf](https://github.com/acts-project/acts/files/12513641/Track_Linearization_and_3D_PCA.pdf))
- changing variable names to match the reference
- removing unused pieces of code
- adding explanatory comments
- adding TODO's where I think we could improve the code further
---
 .../Vertexing/AdaptiveMultiVertexFinder.ipp   |   8 +-
 .../Vertexing/AdaptiveMultiVertexFitter.ipp   |   2 +-
 .../Acts/Vertexing/ImpactPointEstimator.hpp   | 154 ++++---
 .../Acts/Vertexing/ImpactPointEstimator.ipp   | 423 ++++++++++--------
 .../Acts/Vertexing/IterativeVertexFinder.ipp  |   2 +-
 .../Acts/Vertexing/ZScanVertexFinder.ipp      |   9 +-
 .../Vertexing/ImpactPointEstimatorTests.cpp   | 226 +++++++++-
 .../KalmanVertexTrackUpdaterTests.cpp         |   5 +-
 8 files changed, 539 insertions(+), 290 deletions(-)

diff --git a/Core/include/Acts/Vertexing/AdaptiveMultiVertexFinder.ipp b/Core/include/Acts/Vertexing/AdaptiveMultiVertexFinder.ipp
index 5212c3378bf..11ff5a0a9bb 100644
--- a/Core/include/Acts/Vertexing/AdaptiveMultiVertexFinder.ipp
+++ b/Core/include/Acts/Vertexing/AdaptiveMultiVertexFinder.ipp
@@ -203,7 +203,7 @@ auto Acts::AdaptiveMultiVertexFinder<vfitter_t, sfinder_t>::getIPSignificance(
     newVtx.setFullCovariance(SquareMatrix4::Zero());
   }
 
-  auto estRes = m_cfg.ipEstimator.estimateImpactParameters(
+  auto estRes = m_cfg.ipEstimator.getImpactParameters(
       m_extractParameters(*track), newVtx, vertexingOptions.geoContext,
       vertexingOptions.magFieldContext);
   if (!estRes.ok()) {
@@ -213,9 +213,9 @@ auto Acts::AdaptiveMultiVertexFinder<vfitter_t, sfinder_t>::getIPSignificance(
   ImpactParametersAndSigma ipas = *estRes;
 
   double significance = 0.;
-  if (ipas.sigmad0 > 0 && ipas.sigmaz0 > 0) {
-    significance = std::sqrt(std::pow(ipas.IPd0 / ipas.sigmad0, 2) +
-                             std::pow(ipas.IPz0 / ipas.sigmaz0, 2));
+  if (ipas.sigmaD0 > 0 && ipas.sigmaZ0 > 0) {
+    significance = std::sqrt(std::pow(ipas.d0 / ipas.sigmaD0, 2) +
+                             std::pow(ipas.z0 / ipas.sigmaZ0, 2));
   }
 
   return significance;
diff --git a/Core/include/Acts/Vertexing/AdaptiveMultiVertexFitter.ipp b/Core/include/Acts/Vertexing/AdaptiveMultiVertexFitter.ipp
index a1e2c03726e..36cd899dee1 100644
--- a/Core/include/Acts/Vertexing/AdaptiveMultiVertexFitter.ipp
+++ b/Core/include/Acts/Vertexing/AdaptiveMultiVertexFitter.ipp
@@ -239,7 +239,7 @@ Acts::AdaptiveMultiVertexFitter<input_track_t, linearizer_t>::
       currentVtxInfo.ip3dParams.emplace(trk, res.value());
     }
     // Set compatibility with current vertex
-    auto compRes = m_cfg.ipEst.get3dVertexCompatibility(
+    auto compRes = m_cfg.ipEst.template getVertexCompatibility<3>(
         vertexingOptions.geoContext, &(currentVtxInfo.ip3dParams.at(trk)),
         VectorHelpers::position(currentVtxInfo.oldPosition));
     if (!compRes.ok()) {
diff --git a/Core/include/Acts/Vertexing/ImpactPointEstimator.hpp b/Core/include/Acts/Vertexing/ImpactPointEstimator.hpp
index 4c4d7a75228..f12a3054e91 100644
--- a/Core/include/Acts/Vertexing/ImpactPointEstimator.hpp
+++ b/Core/include/Acts/Vertexing/ImpactPointEstimator.hpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2019 CERN for the benefit of the Acts project
+// Copyright (C) 2019-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -21,20 +21,27 @@
 namespace Acts {
 
 struct ImpactParametersAndSigma {
-  double IPd0 = 0.;
-  double IPz0 = 0.;
-  double IPz0SinTheta = 0.;
-  double sigmad0 = 0.;
-  double sigmaz0 = 0.;
-  double sigmaz0SinTheta = 0.;
-  double PVsigmad0 = 0.;
-  double PVsigmaz0 = 0.;
-  double PVsigmaz0SinTheta = 0.;
+  // Impact parameters ...
+  double d0 = 0.;
+  double z0 = 0.;
+  // ... and their standard deviations wrt a vertex, e.g.:
+  // sigmaD0 = sqrt(Var(X) + Var(Y) + Var(d0)),
+  // where X and Y are the x- and y-coordinate of the vertex
+  double sigmaD0 = 0.;
+  double sigmaZ0 = 0.;
+  // Absolute difference in time between the vertex and the track at the 2D PCA
+  // ...
+  std::optional<double> deltaT = std::nullopt;
+  // ... and standard deviation wrt a vertex
+  std::optional<double> sigmaDeltaT = std::nullopt;
 };
 
 /// @class ImpactPointEstimator
 ///
 /// @brief Estimator for impact point calculations
+/// A description of the underlying mathematics can be found here:
+/// https://github.com/acts-project/acts/pull/2414
+/// TODO: Upload reference at a better place
 template <typename input_track_t, typename propagator_t,
           typename propagator_options_t = PropagatorOptions<>>
 class ImpactPointEstimator {
@@ -72,7 +79,7 @@ class ImpactPointEstimator {
     std::shared_ptr<const propagator_t> propagator;
     /// Max. number of iterations in Newton method
     int maxIterations = 20;
-    /// Desired precision in deltaPhi in Newton method
+    /// Desired precision of deltaPhi in Newton method
     double precision = 1.e-10;
     /// Minimum q/p value
     double minQoP = 1e-15;
@@ -85,25 +92,25 @@ class ImpactPointEstimator {
   /// @param cfg Configuration object
   ImpactPointEstimator(const Config& cfg) : m_cfg(cfg) {}
 
-  /// @brief Calculates 3D distance between a track and a 3D point
+  /// @brief Calculates 3D distance between a track and a vertex
   ///
   /// @param gctx The geometry context
   /// @param trkParams Track parameters
-  /// @param vtxPos Position to calculate distance to
+  /// @param vtxPos 3D position to calculate the distance to
   /// @param state The state object
   ///
   /// @return Distance
-  Result<double> calculate3dDistance(const GeometryContext& gctx,
-                                     const BoundTrackParameters& trkParams,
-                                     const Vector3& vtxPos, State& state) const;
-
-  /// @brief Creates track parameters bound to plane
-  /// at point of closest approach in 3d to given
-  /// reference position. The parameters and errors
-  /// are defined on the plane intersecting the track
-  /// at point of closest approach, with track orthogonal
-  /// to the plane and center of the plane defined as the
-  /// given reference point (vertex).
+  Result<double> calculateDistance(const GeometryContext& gctx,
+                                   const BoundTrackParameters& trkParams,
+                                   const Vector3& vtxPos, State& state) const;
+
+  /// @brief Estimates the track parameters at the 3D PCA (i.e., a point of
+  /// minimal 3D distance) to a vertex. The track parameters are defined wrt a
+  /// reference plane that has its origin at the vertex position and whose
+  /// z-axis points in the direction of the track momentum. The plane's x-axis
+  /// points approximately from the vertex to the 3D PCA (it is only approximate
+  /// because we force it to be orthogonal to the z-axis). The y-axis is
+  /// calculated as a cross product between x- and z-axis.
   ///
   /// @param gctx The geometry context
   /// @param mctx The magnetic field context
@@ -111,37 +118,62 @@ class ImpactPointEstimator {
   /// @param vtxPos Reference position (vertex)
   /// @param state The state object
   ///
-  /// @return New track params
+  /// @return Track parameters at the 3D PCA
   Result<BoundTrackParameters> estimate3DImpactParameters(
       const GeometryContext& gctx, const Acts::MagneticFieldContext& mctx,
       const BoundTrackParameters& trkParams, const Vector3& vtxPos,
       State& state) const;
 
-  /// @brief Estimates the compatibility of a
-  /// track to a vertex position based on the 3d
-  /// distance between the track and the vertex
+  /// @brief Estimates the compatibility of a track to a vertex based on their
+  /// 3D (if nDim = 3) or 4D (if nDim = 4) distance and the track covariance.
+  /// @note Confusingly, a *smaller* compatibility means that a track is *more*
+  /// compatible.
   ///
+  /// @tparam nDim Number of dimensions used to compute compatibility
+  /// @note If nDim = 3 we only consider spatial dimensions; if nDim = 4, we
+  /// also consider time. Other values are not allowed.
   /// @param gctx The Geometry context
   /// @param trkParams Track parameters at point of closest
-  /// approach in 3d as retrieved by estimate3DImpactParameters
+  /// approach in 3D as retrieved by estimate3DImpactParameters
   /// @param vertexPos The vertex position
   ///
   /// @return The compatibility value
-  Result<double> get3dVertexCompatibility(const GeometryContext& gctx,
-                                          const BoundTrackParameters* trkParams,
-                                          const Vector3& vertexPos) const;
-
-  /// @brief Estimates the impact parameters and their errors of a given
-  /// track w.r.t. a vertex by propagating the trajectory state
-  /// towards the vertex position.
+  template <unsigned int nDim>
+  Result<double> getVertexCompatibility(
+      const GeometryContext& gctx, const BoundTrackParameters* trkParams,
+      const ActsVector<nDim>& vertexPos) const;
+
+  /// @brief Calculate the distance between a track and a vertex by finding the
+  /// corresponding 3D PCA. Returns also the momentum direction at the 3D PCA.
+  /// The template parameter nDim determines whether we calculate the 3D
+  /// distance (nDim = 3) or the 4D distance (nDim = 4) to the 3D PCA.
+  ///
+  /// @tparam nDim Number of dimensions used to compute compatibility
+  /// @note If nDim = 3 we only consider spatial dimensions; if nDim = 4, we
+  /// also consider time. Other values are not allowed.
+  /// @param gctx Geometry context
+  /// @param trkParams Track parameters
+  /// @param vtxPos Vertex position
+  /// @param state The state object
+  template <unsigned int nDim>
+  Result<std::pair<Acts::ActsVector<nDim>, Acts::Vector3>>
+  getDistanceAndMomentum(const GeometryContext& gctx,
+                         const BoundTrackParameters& trkParams,
+                         const ActsVector<nDim>& vtxPos, State& state) const;
+
+  /// @brief Calculates the impact parameters of a track w.r.t. a vertex. The
+  /// corresponding errors are approximated by summing the variances of the
+  /// track and the vertex.
   ///
-  /// @param track Track to estimate IP from
-  /// @param vtx Vertex the track belongs to
+  /// @param track Track whose impact parameters are calculated
+  /// @param vtx Vertex corresponding to the track
   /// @param gctx The geometry context
   /// @param mctx The magnetic field context
-  Result<ImpactParametersAndSigma> estimateImpactParameters(
+  /// @param calculateTimeIP If true, the difference in time is computed
+  Result<ImpactParametersAndSigma> getImpactParameters(
       const BoundTrackParameters& track, const Vertex<input_track_t>& vtx,
-      const GeometryContext& gctx, const MagneticFieldContext& mctx) const;
+      const GeometryContext& gctx, const MagneticFieldContext& mctx,
+      bool calculateTimeIP = false) const;
 
   /// @brief Estimates the sign of the 2D and Z lifetime of a given track
   /// w.r.t. a vertex and a direction (e.g. a jet direction)
@@ -154,8 +186,8 @@ class ImpactPointEstimator {
   /// @param gctx  The geometry context
   /// @param mctx  The magnetic field context
   ///
-  /// @return A pair holding the sign for the 2D an Z lifetimes
-  Result<std::pair<double, double>> getLifetimesSignOfTrack(
+  /// @return A pair holding the sign for the 2D and Z lifetimes
+  Result<std::pair<double, double>> getLifetimeSignOfTrack(
       const BoundTrackParameters& track, const Vertex<input_track_t>& vtx,
       const Acts::Vector3& direction, const GeometryContext& gctx,
       const MagneticFieldContext& mctx) const;
@@ -182,34 +214,18 @@ class ImpactPointEstimator {
   /// @brief Performs a Newton approximation to retrieve a point
   /// of closest approach in 3D to a reference position
   ///
-  /// @param trkPos Initial position
-  /// @param vtxPos Reference position
-  /// @param phi Phi along the helix which will be changed by
-  ///        the Newton method
-  /// @param theta Track theta
-  /// @param r     Helix radius
+  /// @param helixCenter Position of the helix center
+  /// @param vtxPos Vertex position
+  /// @param phi Azimuthal momentum angle
+  /// @note Modifying phi corresponds to moving along the track. This function
+  /// optimizes phi until we reach a 3D PCA.
+  /// @param theta Polar momentum angle (constant along the track)
+  /// @param rho Signed helix radius
   ///
-  /// @return New phi value
-  Result<double> performNewtonApproximation(const Vector3& trkPos,
-                                            const Vector3& vtxPos, double phi,
-                                            double theta, double r) const;
-
-  /// @brief Helper function to calculate relative
-  /// distance between track and vtxPos and the
-  /// direction of the momentum
-  ///
-  /// @param gctx The geometry context
-  /// @param trkParams Track parameters
-  /// @param vtxPos The vertex position
-  /// @param deltaR Relative position between
-  ///   track and vtxPos, to be determined by method
-  /// @param momDir Momentum direction, to be
-  ///   determined by method
-  /// @param state The state object
-  Result<void> getDistanceAndMomentum(const GeometryContext& gctx,
-                                      const BoundTrackParameters& trkParams,
-                                      const Vector3& vtxPos, Vector3& deltaR,
-                                      Vector3& momDir, State& state) const;
+  /// @return Phi value at 3D PCA
+  Result<double> performNewtonOptimization(const Vector3& helixCenter,
+                                           const Vector3& vtxPos, double phi,
+                                           double theta, double rho) const;
 };
 
 }  // namespace Acts
diff --git a/Core/include/Acts/Vertexing/ImpactPointEstimator.ipp b/Core/include/Acts/Vertexing/ImpactPointEstimator.ipp
index 961868689b2..6e023f384d9 100644
--- a/Core/include/Acts/Vertexing/ImpactPointEstimator.ipp
+++ b/Core/include/Acts/Vertexing/ImpactPointEstimator.ipp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2019 CERN for the benefit of the Acts project
+// Copyright (C) 2019-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -15,21 +15,17 @@ template <typename input_track_t, typename propagator_t,
           typename propagator_options_t>
 Acts::Result<double>
 Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
-    calculate3dDistance(const GeometryContext& gctx,
-                        const BoundTrackParameters& trkParams,
-                        const Vector3& vtxPos, State& state) const {
-  Vector3 deltaR;
-  Vector3 momDir;
-
-  auto res =
-      getDistanceAndMomentum(gctx, trkParams, vtxPos, deltaR, momDir, state);
+    calculateDistance(const GeometryContext& gctx,
+                      const BoundTrackParameters& trkParams,
+                      const Vector3& vtxPos, State& state) const {
+  auto res = getDistanceAndMomentum<3>(gctx, trkParams, vtxPos, state);
 
   if (!res.ok()) {
     return res.error();
   }
 
   // Return distance
-  return deltaR.norm();
+  return res.value().first.norm();
 }
 
 template <typename input_track_t, typename propagator_t,
@@ -40,35 +36,50 @@ Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
                                const Acts::MagneticFieldContext& mctx,
                                const BoundTrackParameters& trkParams,
                                const Vector3& vtxPos, State& state) const {
-  Vector3 deltaR;
-  Vector3 momDir;
-
-  auto res =
-      getDistanceAndMomentum(gctx, trkParams, vtxPos, deltaR, momDir, state);
+  auto res = getDistanceAndMomentum<3>(gctx, trkParams, vtxPos, state);
 
   if (!res.ok()) {
     return res.error();
   }
 
-  // Normalize deltaR
-  deltaR.normalize();
-
-  // corrected deltaR for small deviations from orthogonality
-  Vector3 corrDeltaR = deltaR - (deltaR.dot(momDir)) * momDir;
-
-  // get perpendicular direction vector
-  Vector3 perpDir = momDir.cross(corrDeltaR);
+  // Vector pointing from vertex to 3D PCA
+  Vector3 deltaR = res.value().first;
 
-  Transform3 thePlane;
-  // rotation matrix
-  thePlane.matrix().block(0, 0, 3, 1) = corrDeltaR;
-  thePlane.matrix().block(0, 1, 3, 1) = perpDir;
-  thePlane.matrix().block(0, 2, 3, 1) = momDir;
-  // translation
-  thePlane.matrix().block(0, 3, 3, 1) = vtxPos;
+  // Get corresponding unit vector
+  deltaR.normalize();
 
+  // Momentum direction at vtxPos
+  Vector3 momDir = res.value().second;
+
+  // To understand why deltaR and momDir are not orthogonal, let us look at the
+  // x-y-plane. Since we computed the 3D PCA, the 2D distance between the vertex
+  // and the PCA is not necessarily minimal (see Fig. 4.2 in the reference). As
+  // a consequence, the momentum and the vector connecting the vertex and the
+  // PCA are not orthogonal to each other.
+  Vector3 orthogonalDeltaR = deltaR - (deltaR.dot(momDir)) * momDir;
+
+  // Vector perpendicular to momDir and orthogonalDeltaR
+  Vector3 perpDir = momDir.cross(orthogonalDeltaR);
+
+  // Cartesian coordinate system with:
+  // -) origin at the vertex position
+  // -) z-axis in momentum direction
+  // -) x-axis approximately in direction of the 3D PCA (slight deviations
+  // because it was modified to make if orthogonal to momDir)
+  // -) y-axis is calculated to be orthogonal to x- and z-axis
+  // The transformation is represented by a 4x4 matrix with 0 0 0 1 in the last
+  // row.
+  Transform3 coordinateSystem;
+  // First three columns correspond to coordinate system axes
+  coordinateSystem.matrix().block<3, 1>(0, 0) = orthogonalDeltaR;
+  coordinateSystem.matrix().block<3, 1>(0, 1) = perpDir;
+  coordinateSystem.matrix().block<3, 1>(0, 2) = momDir;
+  // Fourth column corresponds to origin of the coordinate system
+  coordinateSystem.matrix().block<3, 1>(0, 3) = vtxPos;
+
+  // Surface with normal vector in direction of the z axis of coordinateSystem
   std::shared_ptr<PlaneSurface> planeSurface =
-      Surface::makeShared<PlaneSurface>(thePlane);
+      Surface::makeShared<PlaneSurface>(coordinateSystem);
 
   auto intersection = planeSurface
                           ->intersect(gctx, trkParams.position(gctx),
@@ -80,7 +91,8 @@ Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
   pOptions.direction =
       Direction::fromScalarZeroAsPositive(intersection.pathLength());
 
-  // Do the propagation to linPointPos
+  // Propagate to the surface; intersection corresponds to an estimate of the 3D
+  // PCA. If deltaR and momDir were orthogonal the calculation would be exact.
   auto result = m_cfg.propagator->propagate(trkParams, *planeSurface, pOptions);
   if (result.ok()) {
     return *result->endParameters;
@@ -91,80 +103,105 @@ Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
 
 template <typename input_track_t, typename propagator_t,
           typename propagator_options_t>
+template <unsigned int nDim>
 Acts::Result<double>
 Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
-    get3dVertexCompatibility(const GeometryContext& gctx,
-                             const BoundTrackParameters* trkParams,
-                             const Vector3& vertexPos) const {
+    getVertexCompatibility(const GeometryContext& gctx,
+                           const BoundTrackParameters* trkParams,
+                           const ActsVector<nDim>& vertexPos) const {
+  static_assert(nDim == 3 or nDim == 4,
+                "The number of dimensions nDim must be either 3 or 4.");
+
   if (trkParams == nullptr) {
     return VertexingError::EmptyInput;
   }
 
-  // surface rotation
-  RotationMatrix3 myRotation =
+  // Retrieve weight matrix of the track's local x-, y-, and time-coordinate
+  // (the latter only if nDim = 4). For this, the covariance needs to be set.
+  if (not trkParams->covariance().has_value()) {
+    return VertexingError::NoCovariance;
+  }
+  ActsSquareMatrix<nDim - 1> subCovMat;
+  if constexpr (nDim == 3) {
+    subCovMat = trkParams->spatialImpactParameterCovariance().value();
+  } else {
+    subCovMat = trkParams->impactParameterCovariance().value();
+  }
+  ActsSquareMatrix<nDim - 1> weight = subCovMat.inverse();
+
+  // Orientation of the surface (i.e., axes of the corresponding coordinate
+  // system)
+  RotationMatrix3 surfaceAxes =
       trkParams->referenceSurface().transform(gctx).rotation();
-  // Surface translation
-  Vector3 myTranslation =
+  // Origin of the surface coordinate system
+  Vector3 surfaceOrigin =
       trkParams->referenceSurface().transform(gctx).translation();
 
-  // x and y direction of plane
-  Vector3 xDirPlane = myRotation.col(0);
-  Vector3 yDirPlane = myRotation.col(1);
-
-  // transform vertex position in local plane reference frame
-  Vector3 vertexLocPlane = vertexPos - myTranslation;
-
-  // local x/y vertex position
-  Vector2 vertexLocXY{vertexLocPlane.dot(xDirPlane),
-                      vertexLocPlane.dot(yDirPlane)};
-
-  // track covariance
-  if (not trkParams->covariance().has_value()) {
-    return VertexingError::NoCovariance;
+  // x- and y-axis of the surface coordinate system
+  Vector3 xAxis = surfaceAxes.col(0);
+  Vector3 yAxis = surfaceAxes.col(1);
+
+  // Vector pointing from the surface origin to the vertex position
+  // TODO: The vertex should always be at the surfaceOrigin since the
+  // track parameters should be obtained by estimate3DImpactParameters.
+  // Therefore, originToVertex should always be 0, which is currently not the
+  // case.
+  Vector3 originToVertex = vertexPos.template head<3>() - surfaceOrigin;
+
+  // x-, y-, and possibly time-coordinate of the vertex and the track in the
+  // surface coordinate system
+  ActsVector<nDim - 1> localVertexCoords;
+  localVertexCoords.template head<2>() =
+      Vector2(originToVertex.dot(xAxis), originToVertex.dot(yAxis));
+
+  ActsVector<nDim - 1> localTrackCoords;
+  localTrackCoords.template head<2>() =
+      Vector2(trkParams->parameters()[eX], trkParams->parameters()[eY]);
+
+  // Fill time coordinates if we check the 4D vertex compatibility
+  if constexpr (nDim == 4) {
+    localVertexCoords(2) = vertexPos(3);
+    localTrackCoords(2) = trkParams->parameters()[eBoundTime];
   }
-  auto cov = trkParams->covariance();
-  SquareMatrix2 myWeightXY = cov->block<2, 2>(0, 0).inverse();
 
-  // 2-dim residual
-  Vector2 myXYpos =
-      Vector2(trkParams->parameters()[eX], trkParams->parameters()[eY]) -
-      vertexLocXY;
+  // residual
+  ActsVector<nDim - 1> residual = localTrackCoords - localVertexCoords;
 
   // return chi2
-  return myXYpos.dot(myWeightXY * myXYpos);
+  return residual.dot(weight * residual);
 }
 
 template <typename input_track_t, typename propagator_t,
           typename propagator_options_t>
 Acts::Result<double> Acts::ImpactPointEstimator<
     input_track_t, propagator_t,
-    propagator_options_t>::performNewtonApproximation(const Vector3& trkPos,
-                                                      const Vector3& vtxPos,
-                                                      double phi, double theta,
-                                                      double r) const {
-  double sinNewPhi = -std::sin(phi);
-  double cosNewPhi = std::cos(phi);
+    propagator_options_t>::performNewtonOptimization(const Vector3& helixCenter,
+                                                     const Vector3& vtxPos,
+                                                     double phi, double theta,
+                                                     double rho) const {
+  double sinPhi = std::sin(phi);
+  double cosPhi = std::cos(phi);
 
   int nIter = 0;
   bool hasConverged = false;
 
   double cotTheta = 1. / std::tan(theta);
 
-  // start iteration until convergence or max iteration reached
-  while (!hasConverged && nIter < m_cfg.maxIterations) {
-    double x0 = trkPos.x();
-    double y0 = trkPos.y();
-    double z0 = trkPos.z();
+  double xO = helixCenter.x();
+  double yO = helixCenter.y();
+  double zO = helixCenter.z();
 
-    double xc = vtxPos.x();
-    double yc = vtxPos.y();
-    double zc = vtxPos.z();
+  double xVtx = vtxPos.x();
+  double yVtx = vtxPos.y();
+  double zVtx = vtxPos.z();
 
-    double derivative = (x0 - xc) * (-r * cosNewPhi) +
-                        (y0 - yc) * r * sinNewPhi +
-                        (z0 - zc - r * phi * cotTheta) * (-r * cotTheta);
-    double secDerivative = r * (-(x0 - xc) * sinNewPhi - (y0 - yc) * cosNewPhi +
-                                r * cotTheta * cotTheta);
+  // Iterate until convergence is reached or the maximum amount of iterations is
+  // exceeded
+  while (!hasConverged && nIter < m_cfg.maxIterations) {
+    double derivative = rho * ((xVtx - xO) * cosPhi + (yVtx - yO) * sinPhi +
+                               (zVtx - zO + rho * phi * cotTheta) * cotTheta);
+    double secDerivative = rho * (-(xVtx - xO) * sinPhi + (yVtx - yO) * cosPhi +
+                                  rho * cotTheta * cotTheta);
 
     if (secDerivative < 0.) {
       return VertexingError::NumericFailure;
@@ -173,8 +210,8 @@ Acts::Result<double> Acts::ImpactPointEstimator<
     double deltaPhi = -derivative / secDerivative;
 
     phi += deltaPhi;
-    sinNewPhi = -std::sin(phi);
-    cosNewPhi = std::cos(phi);
+    sinPhi = std::sin(phi);
+    cosPhi = std::cos(phi);
 
     nIter += 1;
 
@@ -192,48 +229,62 @@ Acts::Result<double> Acts::ImpactPointEstimator<
 
 template <typename input_track_t, typename propagator_t,
           typename propagator_options_t>
-Acts::Result<void>
+template <unsigned int nDim>
+Acts::Result<std::pair<Acts::ActsVector<nDim>, Acts::Vector3>>
 Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
     getDistanceAndMomentum(const GeometryContext& gctx,
                            const BoundTrackParameters& trkParams,
-                           const Vector3& vtxPos, Vector3& deltaR,
-                           Vector3& momDir, State& state) const {
-  Vector3 trkSurfaceCenter = trkParams.referenceSurface().center(gctx);
+                           const ActsVector<nDim>& vtxPos, State& state) const {
+  static_assert(nDim == 3 or nDim == 4,
+                "The number of dimensions nDim must be either 3 or 4.");
+
+  // Reference point R
+  Vector3 refPoint = trkParams.referenceSurface().center(gctx);
 
+  // Perigee parameters (parameters of 2D PCA)
   double d0 = trkParams.parameters()[BoundIndices::eBoundLoc0];
   double z0 = trkParams.parameters()[BoundIndices::eBoundLoc1];
-  double phi = trkParams.parameters()[BoundIndices::eBoundPhi];
+  double phiP = trkParams.parameters()[BoundIndices::eBoundPhi];
   double theta = trkParams.parameters()[BoundIndices::eBoundTheta];
   double qOvP = trkParams.parameters()[BoundIndices::eBoundQOverP];
-
+  double tP = trkParams.parameters()[BoundIndices::eBoundTime];
+  // Functions of the polar angle theta for later use
   double sinTheta = std::sin(theta);
-
   double cotTheta = 1. / std::tan(theta);
 
-  // get B-field z-component at current position
-  auto fieldRes = m_cfg.bField->getField(trkSurfaceCenter, state.fieldCache);
+  // Set optimization variable phi to the angle at the 2D PCA as a first guess.
+  // Note that phi corresponds to phiV in the reference.
+  double phi = phiP;
+
+  // B-field z-component at the reference position.
+  // Note that we assume a constant B field here!
+  auto fieldRes = m_cfg.bField->getField(refPoint, state.fieldCache);
   if (!fieldRes.ok()) {
     return fieldRes.error();
   }
   double bZ = (*fieldRes)[eZ];
 
-  // The radius
-  double r = 0;
+  // Signed radius of the helix on which the particle moves
+  double rho = 0;
   // Curvature is infinite w/o b field
   if (bZ == 0. || std::abs(qOvP) < m_cfg.minQoP) {
-    r = m_cfg.maxRho;
+    rho = m_cfg.maxRho;
   } else {
-    // signed(!) r
-    r = sinTheta * (1. / qOvP) / bZ;
+    rho = sinTheta * (1. / qOvP) / bZ;
   }
 
-  Vector3 vec0 = trkSurfaceCenter + Vector3(-(d0 - r) * std::sin(phi),
-                                            (d0 - r) * std::cos(phi),
-                                            z0 + r * phi * cotTheta);
-
-  // Perform newton approximation method
-  // this will change the value of phi
-  auto res = performNewtonApproximation(vec0, vtxPos, phi, theta, r);
+  // Position of the helix center.
+  // We can set the z-position to a convenient value since it is not fixed by
+  // the Perigee parameters. Note that phi = phiP because we did not start the
+  // optimization yet.
+  Vector3 helixCenter =
+      refPoint + Vector3(-(d0 - rho) * std::sin(phi),
+                         (d0 - rho) * std::cos(phi), z0 + rho * phi * cotTheta);
+
+  // Use Newton optimization method to iteratively change phi until we arrive at
+  // the 3D PCA
+  auto res = performNewtonOptimization(helixCenter, vtxPos.template head<3>(),
+                                       phi, theta, rho);
   if (!res.ok()) {
     return res.error();
   }
@@ -243,36 +294,55 @@ Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
   double cosPhi = std::cos(phi);
   double sinPhi = std::sin(phi);
 
-  // Set momentum direction
-  momDir = Vector3(sinTheta * cosPhi, sinPhi * sinTheta, std::cos(theta));
+  // Momentum direction at the 3D PCA.
+  // Note that we have thetaV = thetaP = theta since the polar angle does not
+  // change in a constant B field.
+  Vector3 momDir =
+      Vector3(cosPhi * sinTheta, sinPhi * sinTheta, std::cos(theta));
 
-  // point of closest approach in 3D
-  Vector3 pointCA3d = vec0 + r * Vector3(-sinPhi, cosPhi, -cotTheta * phi);
+  // 3D PCA (point P' in the reference). Note that the prefix "3D" does not
+  // refer to the dimension of the pca variable. Rather, it indicates that we
+  // minimized the 3D distance between the track and the reference point.
+  ActsVector<nDim> pca;
+  pca.template head<3>() =
+      helixCenter + rho * Vector3(-sinPhi, cosPhi, -cotTheta * phi);
 
-  // Set deltaR
-  deltaR = pointCA3d - vtxPos;
+  if constexpr (nDim == 4) {
+    ActsScalar m0 = trkParams.particleHypothesis().mass();
+    ActsScalar p =
+        std::abs(trkParams.particleHypothesis().absoluteCharge() / qOvP);
+
+    // Speed in units of c
+    ActsScalar beta = p / std::hypot(p, m0);
+
+    pca[3] = tP - rho / (beta * sinTheta) * (phi - phiP);
+  }
+  // Vector pointing from the vertex position to the 3D PCA
+  ActsVector<nDim> deltaR = pca - vtxPos;
 
-  return {};
+  return std::make_pair(deltaR, momDir);
 }
 
 template <typename input_track_t, typename propagator_t,
           typename propagator_options_t>
 Acts::Result<Acts::ImpactParametersAndSigma>
 Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
-    estimateImpactParameters(const BoundTrackParameters& track,
-                             const Vertex<input_track_t>& vtx,
-                             const GeometryContext& gctx,
-                             const Acts::MagneticFieldContext& mctx) const {
-  // estimating the d0 and its significance by propagating the trajectory state
-  // towards
-  // the vertex position. By this time the vertex should NOT contain this
-  // trajectory anymore
+    getImpactParameters(const BoundTrackParameters& track,
+                        const Vertex<input_track_t>& vtx,
+                        const GeometryContext& gctx,
+                        const Acts::MagneticFieldContext& mctx,
+                        bool calculateTimeIP) const {
   const std::shared_ptr<PerigeeSurface> perigeeSurface =
       Surface::makeShared<PerigeeSurface>(vtx.position());
 
   // Create propagator options
   propagator_options_t pOptions(gctx, mctx);
-  pOptions.direction = Direction::Backward;
+  auto intersection =
+      perigeeSurface
+          ->intersect(gctx, track.position(gctx), track.direction(), false)
+          .closest();
+  pOptions.direction =
+      Direction::fromScalarZeroAsPositive(intersection.pathLength());
 
   // Do the propagation to linPoint
   auto result = m_cfg.propagator->propagate(track, *perigeeSurface, pOptions);
@@ -282,94 +352,69 @@ Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
   }
 
   const auto& propRes = *result;
-  const auto& params = propRes.endParameters->parameters();
-  const double d0 = params[BoundIndices::eBoundLoc0];
-  const double z0 = params[BoundIndices::eBoundLoc1];
-  const double phi = params[BoundIndices::eBoundPhi];
-  const double theta = params[BoundIndices::eBoundTheta];
-
-  const double sinPhi = std::sin(phi);
-  const double sinTheta = std::sin(theta);
-  const double cosPhi = std::cos(phi);
-  const double cosTheta = std::cos(theta);
-
-  SquareMatrix2 vrtXYCov = vtx.covariance().template block<2, 2>(0, 0);
 
-  // Covariance of perigee parameters after propagation to perigee surface
+  // Check if the covariance matrix of the Perigee parameters exists
   if (not propRes.endParameters->covariance().has_value()) {
     return VertexingError::NoCovariance;
   }
-  const auto& perigeeCov = *(propRes.endParameters->covariance());
 
-  Vector2 d0JacXY(-sinPhi, cosPhi);
-
-  ImpactParametersAndSigma newIPandSigma;
-
-  newIPandSigma.IPd0 = d0;
-  double d0_PVcontrib = d0JacXY.transpose() * (vrtXYCov * d0JacXY);
-  if (d0_PVcontrib >= 0) {
-    newIPandSigma.sigmad0 =
-        std::sqrt(d0_PVcontrib + perigeeCov(BoundIndices::eBoundLoc0,
-                                            BoundIndices::eBoundLoc0));
-    newIPandSigma.PVsigmad0 = std::sqrt(d0_PVcontrib);
+  // Extract Perigee parameters and corresponding covariance matrix
+  auto impactParams = propRes.endParameters->impactParameters();
+  auto impactParamCovariance =
+      propRes.endParameters->impactParameterCovariance().value();
+
+  // Vertex variances
+  // TODO: By looking at sigmaD0 and sigmaZ0 we neglect the offdiagonal terms
+  // (i.e., we approximate the vertex as a sphere rather than an ellipsoid).
+  // Using the full covariance matrix might furnish better results.
+  double vtxVarX = vtx.covariance()(eX, eX);
+  double vtxVarY = vtx.covariance()(eY, eY);
+  double vtxVarZ = vtx.covariance()(eZ, eZ);
+
+  ImpactParametersAndSigma ipAndSigma;
+
+  ipAndSigma.d0 = impactParams[0];
+  // Variance of the vertex extent in the x-y-plane
+  double vtxVar2DExtent = std::max(vtxVarX, vtxVarY);
+  // TODO: vtxVar2DExtent, vtxVarZ, and vtxVarT should always be >= 0. We need
+  // to throw an error here once
+  // https://github.com/acts-project/acts/issues/2231 is resolved.
+  if (vtxVar2DExtent > 0) {
+    ipAndSigma.sigmaD0 =
+        std::sqrt(vtxVar2DExtent + impactParamCovariance(0, 0));
   } else {
-    newIPandSigma.sigmad0 = std::sqrt(
-        perigeeCov(BoundIndices::eBoundLoc0, BoundIndices::eBoundLoc0));
-    newIPandSigma.PVsigmad0 = 0;
+    ipAndSigma.sigmaD0 = std::sqrt(impactParamCovariance(0, 0));
   }
 
-  SquareMatrix2 covPerigeeZ0Theta;
-  covPerigeeZ0Theta(0, 0) =
-      perigeeCov(BoundIndices::eBoundLoc1, BoundIndices::eBoundLoc1);
-  covPerigeeZ0Theta(0, 1) =
-      perigeeCov(BoundIndices::eBoundLoc1, BoundIndices::eBoundTheta);
-  covPerigeeZ0Theta(1, 0) =
-      perigeeCov(BoundIndices::eBoundTheta, BoundIndices::eBoundLoc1);
-  covPerigeeZ0Theta(1, 1) =
-      perigeeCov(BoundIndices::eBoundTheta, BoundIndices::eBoundTheta);
-
-  double vtxZZCov = vtx.covariance()(eZ, eZ);
-
-  Vector2 z0JacZ0Theta(sinTheta, z0 * cosTheta);
-
-  if (vtxZZCov >= 0) {
-    newIPandSigma.IPz0SinTheta = z0 * sinTheta;
-    newIPandSigma.sigmaz0SinTheta = std::sqrt(
-        z0JacZ0Theta.transpose() * (covPerigeeZ0Theta * z0JacZ0Theta) +
-        sinTheta * vtxZZCov * sinTheta);
-
-    newIPandSigma.PVsigmaz0SinTheta = std::sqrt(sinTheta * vtxZZCov * sinTheta);
-    newIPandSigma.IPz0 = z0;
-    newIPandSigma.sigmaz0 =
-        std::sqrt(vtxZZCov + perigeeCov(BoundIndices::eBoundLoc1,
-                                        BoundIndices::eBoundLoc1));
-    newIPandSigma.PVsigmaz0 = std::sqrt(vtxZZCov);
+  ipAndSigma.z0 = impactParams[1];
+  if (vtxVarZ > 0) {
+    ipAndSigma.sigmaZ0 = std::sqrt(vtxVarZ + impactParamCovariance(1, 1));
   } else {
-    // Remove contribution from PV
-    newIPandSigma.IPz0SinTheta = z0 * sinTheta;
-    double sigma2z0sinTheta =
-        (z0JacZ0Theta.transpose() * (covPerigeeZ0Theta * z0JacZ0Theta));
-    newIPandSigma.sigmaz0SinTheta = std::sqrt(sigma2z0sinTheta);
-    newIPandSigma.PVsigmaz0SinTheta = 0;
-
-    newIPandSigma.IPz0 = z0;
-    newIPandSigma.sigmaz0 = std::sqrt(
-        perigeeCov(BoundIndices::eBoundLoc1, BoundIndices::eBoundLoc1));
-    newIPandSigma.PVsigmaz0 = 0;
+    ipAndSigma.sigmaZ0 = std::sqrt(impactParamCovariance(1, 1));
+  }
+
+  if (calculateTimeIP) {
+    ipAndSigma.deltaT = std::abs(vtx.time() - impactParams[2]);
+    double vtxVarT = vtx.fullCovariance()(eTime, eTime);
+    if (vtxVarT > 0) {
+      ipAndSigma.sigmaDeltaT = std::sqrt(vtxVarT + impactParamCovariance(2, 2));
+    } else {
+      ipAndSigma.sigmaDeltaT = std::sqrt(impactParamCovariance(2, 2));
+    }
   }
 
-  return newIPandSigma;
+  return ipAndSigma;
 }
 
 template <typename input_track_t, typename propagator_t,
           typename propagator_options_t>
 Acts::Result<std::pair<double, double>>
 Acts::ImpactPointEstimator<input_track_t, propagator_t, propagator_options_t>::
-    getLifetimesSignOfTrack(const BoundTrackParameters& track,
-                            const Vertex<input_track_t>& vtx,
-                            const Acts::Vector3& direction,
-                            const GeometryContext& gctx,
-                            const MagneticFieldContext& mctx) const {
+    getLifetimeSignOfTrack(const BoundTrackParameters& track,
+                           const Vertex<input_track_t>& vtx,
+                           const Acts::Vector3& direction,
+                           const GeometryContext& gctx,
+                           const MagneticFieldContext& mctx) const {
   const std::shared_ptr<PerigeeSurface> perigeeSurface =
       Surface::makeShared<PerigeeSurface>(vtx.position());
 
diff --git a/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp b/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
index d11385b860b..8c9c6c1fe29 100644
--- a/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
+++ b/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
@@ -388,7 +388,7 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::fillPerigeesToFit(
     else {
       // check first that distance is not too large
       const BoundTrackParameters& sTrackParams = m_extractParameters(*sTrack);
-      auto distanceRes = m_cfg.ipEst.calculate3dDistance(
+      auto distanceRes = m_cfg.ipEst.calculateDistance(
           vertexingOptions.geoContext, sTrackParams, seedVertex.position(),
           state.ipState);
       if (!distanceRes.ok()) {
diff --git a/Core/include/Acts/Vertexing/ZScanVertexFinder.ipp b/Core/include/Acts/Vertexing/ZScanVertexFinder.ipp
index 4472a513c21..6d277dbedba 100644
--- a/Core/include/Acts/Vertexing/ZScanVertexFinder.ipp
+++ b/Core/include/Acts/Vertexing/ZScanVertexFinder.ipp
@@ -24,7 +24,7 @@ auto Acts::ZScanVertexFinder<vfitter_t>::find(
     ImpactParametersAndSigma ipas;
     if (vertexingOptions.useConstraintInFit &&
         vertexingOptions.constraint.covariance()(0, 0) != 0) {
-      auto estRes = m_cfg.ipEstimator.estimateImpactParameters(
+      auto estRes = m_cfg.ipEstimator.getImpactParameters(
           params, vertexingOptions.constraint, vertexingOptions.geoContext,
           vertexingOptions.magFieldContext);
       if (estRes.ok()) {
@@ -34,13 +34,12 @@ auto Acts::ZScanVertexFinder<vfitter_t>::find(
       }
     }
 
-    if (ipas.sigmad0 > 0) {
+    if (ipas.sigmaD0 > 0) {
       // calculate z0
-      z0AndWeight.first =
-          ipas.IPz0 + vertexingOptions.constraint.position().z();
+      z0AndWeight.first = ipas.z0 + vertexingOptions.constraint.position().z();
 
       // calculate chi2 of IP
-      double chi2IP = std::pow(ipas.IPd0 / ipas.sigmad0, 2);
+      double chi2IP = std::pow(ipas.d0 / ipas.sigmaD0, 2);
 
       if (!m_cfg.disableAllWeights) {
         z0AndWeight.second =
diff --git a/Tests/UnitTests/Core/Vertexing/ImpactPointEstimatorTests.cpp b/Tests/UnitTests/Core/Vertexing/ImpactPointEstimatorTests.cpp
index 8d481f88b67..d812db2f0f6 100644
--- a/Tests/UnitTests/Core/Vertexing/ImpactPointEstimatorTests.cpp
+++ b/Tests/UnitTests/Core/Vertexing/ImpactPointEstimatorTests.cpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2019-2020 CERN for the benefit of the Acts project
+// Copyright (C) 2019-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -76,7 +76,9 @@ auto thetas = bd::make({90_degree, 20_degree, 160_degree});
 auto ps = bd::make({0.4_GeV, 1_GeV, 10_GeV});
 auto qs = bd::make({-1_e, 1_e});
 // Cartesian products over all parameters
-auto tracks = d0s * l0s * t0s * phis * thetas * ps * qs;
+auto tracksWithoutIPs = t0s * phis * thetas * ps * qs;
+auto IPs = d0s * l0s;
+auto tracks = IPs * tracksWithoutIPs;
 
 // vertex parameters dataset
 auto vx0s = bd::make({0_um, -10_um, 10_um});
@@ -98,11 +100,12 @@ Estimator makeEstimator(double bZ) {
 }
 
 // Construct a diagonal track covariance w/ reasonable values.
-Acts::BoundSquareMatrix makeBoundParametersCovariance() {
+Acts::BoundSquareMatrix makeBoundParametersCovariance(
+    double stdDevTime = 30_ps) {
   BoundVector stddev;
   stddev[eBoundLoc0] = 15_um;
   stddev[eBoundLoc1] = 100_um;
-  stddev[eBoundTime] = 5_ns;
+  stddev[eBoundTime] = stdDevTime;
   stddev[eBoundPhi] = 1_degree;
   stddev[eBoundTheta] = 1_degree;
   stddev[eBoundQOverP] = 1_e / 100_GeV;
@@ -119,12 +122,16 @@ Acts::SquareMatrix4 makeVertexCovariance() {
   return stddev.cwiseProduct(stddev).asDiagonal();
 }
 
+// random value between 0 and 1
+std::uniform_real_distribution<> uniformDist(0.0, 1.0);
+// random sign
+std::uniform_real_distribution<> signDist(-1, 1);
 }  // namespace
 
 BOOST_AUTO_TEST_SUITE(VertexingImpactPointEstimator)
 
-// Check `calculated3dDistance`, `estimate3DImpactParameters`, and
-// `get3dVertexCompatibility`.
+// Check `calculateDistance`, `estimate3DImpactParameters`, and
+// `getVertexCompatibility`.
 BOOST_DATA_TEST_CASE(SingleTrackDistanceParametersCompatibility3d, tracks, d0,
                      l0, t0, phi, theta, p, q) {
   auto particleHypothesis = ParticleHypothesis::pion();
@@ -149,13 +156,14 @@ BOOST_DATA_TEST_CASE(SingleTrackDistanceParametersCompatibility3d, tracks, d0,
   // initial distance to the reference position in the perigee frame
   double distT = std::hypot(d0, l0);
   double dist3 =
-      ipEstimator.calculate3dDistance(geoContext, myTrack, refPosition, state)
+      ipEstimator.calculateDistance(geoContext, myTrack, refPosition, state)
           .value();
   // estimated 3D distance should be less than the 2d distance in the perigee
   // frame. it should be equal if the track is a transverse track w/ theta =
   // 90deg. in that case there might be numerical deviations and we need to
   // check that it is less or equal within the numerical tolerance.
-  BOOST_CHECK((dist3 < distT) or (std::abs(dist3 - distT) < 1_um));
+  BOOST_CHECK((dist3 < distT) or
+              (theta == 90_degree and std::abs(dist3 - distT) < 1_nm));
 
   // estimate parameters at the closest point in 3d
   auto res = ipEstimator.estimate3DImpactParameters(
@@ -177,11 +185,195 @@ BOOST_DATA_TEST_CASE(SingleTrackDistanceParametersCompatibility3d, tracks, d0,
   // this is a chi2-like value and should always be positive
   auto compatibility =
       ipEstimator
-          .get3dVertexCompatibility(geoContext, &trackAtIP3d, refPosition)
+          .getVertexCompatibility<3>(geoContext, &trackAtIP3d, refPosition)
           .value();
   BOOST_CHECK_GT(compatibility, 0);
 }
 
+BOOST_DATA_TEST_CASE(TimeAtPca, tracksWithoutIPs* vertices, t0, phi, theta, p,
+                     q, vx0, vy0, vz0, vt0) {
+  using Propagator = Acts::Propagator<Stepper>;
+  auto field = std::make_shared<MagneticField>(Vector3(0, 0, 2_T));
+  Stepper stepper(field);
+  auto propagator = std::make_shared<Propagator>(std::move(stepper));
+  Estimator::Config cfg(field, propagator);
+  Estimator ipEstimator(cfg);
+  Estimator::State state(magFieldCache());
+
+  // Vertex position and vertex object
+  Vector4 vtxPos(vx0, vy0, vz0, vt0);
+  Vertex<BoundTrackParameters> vtx(vtxPos, makeVertexCovariance(), {});
+
+  // Perigee surface at vertex position
+  auto vtxPerigeeSurface =
+      Surface::makeShared<PerigeeSurface>(vtxPos.head<3>());
+
+  // Track parameter vector for a track that originates at the vertex.
+  // Note that 2D and 3D PCA coincide since the track passes exactly through the
+  // vertex.
+  BoundVector paramVec;
+  paramVec[eBoundLoc0] = 0.;
+  paramVec[eBoundLoc1] = 0.;
+  paramVec[eBoundTime] = t0;
+  paramVec[eBoundPhi] = phi;
+  paramVec[eBoundTheta] = theta;
+  paramVec[eBoundQOverP] = q / p;
+
+  BoundTrackParameters params(vtxPerigeeSurface, paramVec,
+                              makeBoundParametersCovariance(),
+                              ParticleHypothesis::pion());
+
+  // Correct quantities for checking if IP estimation worked
+  // Time of the track with respect to the vertex
+  ActsScalar corrTimeDiff = t0 - vt0;
+
+  // Momentum direction at vertex (i.e., at 3D PCA)
+  double cosPhi = std::cos(phi);
+  double sinPhi = std::sin(phi);
+  double sinTheta = std::sin(theta);
+  Vector3 corrMomDir =
+      Vector3(cosPhi * sinTheta, sinPhi * sinTheta, std::cos(theta));
+
+  // Arbitrary reference point
+  Vector3 refPoint(2_mm, -2_mm, -5_mm);
+
+  // Perigee surface at vertex position
+  auto refPerigeeSurface = Surface::makeShared<PerigeeSurface>(refPoint);
+
+  // Propagate to the 2D PCA of the reference point
+  PropagatorOptions pOptions(geoContext, magFieldContext);
+  auto intersection = refPerigeeSurface
+                          ->intersect(geoContext, params.position(geoContext),
+                                      params.direction(), false)
+                          .closest();
+  pOptions.direction =
+      Direction::fromScalarZeroAsPositive(intersection.pathLength());
+  auto result = propagator->propagate(params, *refPerigeeSurface, pOptions);
+  BOOST_CHECK(result.ok());
+
+  const auto& refParams = *result->endParameters;
+
+  BOOST_TEST_CONTEXT(
+      "Check time at 2D PCA (i.e., function getImpactParameters)") {
+    // Calculate impact parameters
+    auto ipParams = ipEstimator
+                        .getImpactParameters(refParams, vtx, geoContext,
+                                             magFieldContext, true)
+                        .value();
+    // Spatial impact parameters should be 0 because the track passes through
+    // the vertex
+    CHECK_CLOSE_ABS(ipParams.d0, 0., 30_nm);
+    CHECK_CLOSE_ABS(ipParams.z0, 0., 100_nm);
+    // Time impact parameter should correspond to the time where the track
+    // passes through the vertex
+    CHECK_CLOSE_OR_SMALL(ipParams.deltaT.value(), std::abs(corrTimeDiff), 1e-5,
+                         1e-3);
+  }
+
+  BOOST_TEST_CONTEXT(
+      "Check time at 3D PCA (i.e., function getDistanceAndMomentum)") {
+    // Find 4D distance and momentum of the track at the vertex starting from
+    // the perigee representation at the reference position
+    auto distAndMom =
+        ipEstimator
+            .getDistanceAndMomentum<4>(geoContext, refParams, vtxPos, state)
+            .value();
+
+    ActsVector<4> distVec = distAndMom.first;
+    Vector3 momDir = distAndMom.second;
+
+    // Check quantities:
+    // Spatial distance should be 0 as track passes through the vertex
+    ActsScalar dist = distVec.head<3>().norm();
+    CHECK_CLOSE_ABS(dist, 0., 30_nm);
+    // Distance in time should correspond to the time of the track in a
+    // coordinate system with the vertex as the origin since the track passes
+    // exactly through the vertex
+    CHECK_CLOSE_OR_SMALL(distVec[3], corrTimeDiff, 1e-5, 1e-4);
+    // Momentum direction should correspond to the momentum direction at the
+    // vertex
+    CHECK_CLOSE_OR_SMALL(momDir, corrMomDir, 1e-5, 1e-4);
+  }
+}
+
+BOOST_DATA_TEST_CASE(VertexCompatibility4D, IPs* vertices, d0, l0, vx0, vy0,
+                     vz0, vt0) {
+  // Set up RNG
+  int seed = 31415;
+  std::mt19937 gen(seed);
+
+  // Impact point estimator
+  Estimator ipEstimator = makeEstimator(2_T);
+
+  // Vertex position
+  Vector4 vtxPos(vx0, vy0, vz0, vt0);
+
+  // Dummy coordinate system with origin at vertex
+  Transform3 coordinateSystem;
+  // First three columns correspond to coordinate system axes
+  coordinateSystem.matrix().block<3, 3>(0, 0) = ActsSquareMatrix<3>::Identity();
+  // Fourth column corresponds to origin of the coordinate system
+  coordinateSystem.matrix().block<3, 1>(0, 3) = vtxPos.head<3>();
+
+  // Dummy plane surface
+  std::shared_ptr<PlaneSurface> planeSurface =
+      Surface::makeShared<PlaneSurface>(coordinateSystem);
+
+  // Create two track parameter vectors that are alike except that one is closer
+  // to the vertex in time. Note that momenta don't play a role in the
+  // computation and we set the angles and q/p to 0.
+  // Time offsets
+  double timeDiffFactor = uniformDist(gen);
+  double timeDiffClose = timeDiffFactor * 0.1_ps;
+  double timeDiffFar = timeDiffFactor * 0.11_ps;
+
+  // Different random signs for the time offsets
+  double sgnClose = signDist(gen) < 0 ? -1. : 1.;
+  double sgnFar = signDist(gen) < 0 ? -1. : 1.;
+
+  BoundVector paramVecClose = BoundVector::Zero();
+  paramVecClose[eBoundLoc0] = d0;
+  paramVecClose[eBoundLoc1] = l0;
+  paramVecClose[eBoundTime] = vt0 + sgnClose * timeDiffClose;
+
+  BoundVector paramVecFar = paramVecClose;
+  paramVecFar[eBoundTime] = vt0 + sgnFar * timeDiffFar;
+
+  // Track whose time is similar to the vertex time
+  BoundTrackParameters paramsClose(planeSurface, paramVecClose,
+                                   makeBoundParametersCovariance(30_ns),
+                                   ParticleHypothesis::pion());
+
+  // Track whose time is similar to the vertex time but with a larger time
+  // variance
+  BoundTrackParameters paramsCloseLargerCov(
+      planeSurface, paramVecClose, makeBoundParametersCovariance(31_ns),
+      ParticleHypothesis::pion());
+
+  // Track whose time differs slightly more from the vertex time
+  BoundTrackParameters paramsFar(planeSurface, paramVecFar,
+                                 makeBoundParametersCovariance(30_ns),
+                                 ParticleHypothesis::pion());
+
+  // Calculate the 4D vertex compatibilities of the three tracks
+  double compatibilityClose =
+      ipEstimator.getVertexCompatibility<4>(geoContext, &paramsClose, vtxPos)
+          .value();
+  double compatibilityCloseLargerCov =
+      ipEstimator
+          .getVertexCompatibility<4>(geoContext, &paramsCloseLargerCov, vtxPos)
+          .value();
+  double compatibilityFar =
+      ipEstimator.getVertexCompatibility<4>(geoContext, &paramsFar, vtxPos)
+          .value();
+
+  // The track who is closer in time must have a better (i.e., smaller)
+  // compatibility
+  BOOST_CHECK(compatibilityClose < compatibilityFar);
+  // The track with the larger covariance must be the most compatible
+  BOOST_CHECK(compatibilityCloseLargerCov < compatibilityClose);
+}
+
 // Compare calculations w/ known good values from Athena.
 //
 // Checks the results for a single track with the same test values as in Athena
@@ -210,9 +402,8 @@ BOOST_AUTO_TEST_CASE(SingleTrackDistanceParametersAthenaRegression) {
 
   // Compare w/ desired result from Athena unit test
   auto distance =
-      ipEstimator.calculate3dDistance(geoContext, params1, vtxPos, state)
-          .value();
-  CHECK_CLOSE_ABS(distance, 3.10391_mm, 0.00001_mm);
+      ipEstimator.calculateDistance(geoContext, params1, vtxPos, state).value();
+  CHECK_CLOSE_ABS(distance, 3.10391_mm, 10_nm);
 
   auto res2 = ipEstimator.estimate3DImpactParameters(
       geoContext, magFieldContext, params1, vtxPos, state);
@@ -248,7 +439,7 @@ BOOST_AUTO_TEST_CASE(Lifetimes2d3d) {
                              ParticleHypothesis::pion());
 
   Vector3 direction{0., 1., 0.};
-  auto lifetimes_signs = ipEstimator.getLifetimesSignOfTrack(
+  auto lifetimes_signs = ipEstimator.getLifetimeSignOfTrack(
       track, ip_vtx, direction, geoContext, magFieldContext);
 
   // Check if the result is OK
@@ -272,7 +463,7 @@ BOOST_AUTO_TEST_CASE(Lifetimes2d3d) {
   BOOST_CHECK((*sign3d) > 0.);
 }
 
-// Check `.estimateImpactParameters`.
+// Check `.getImpactParameters`.
 BOOST_DATA_TEST_CASE(SingeTrackImpactParameters, tracks* vertices, d0, l0, t0,
                      phi, theta, p, q, vx0, vy0, vz0, vt0) {
   BoundVector par;
@@ -303,11 +494,10 @@ BOOST_DATA_TEST_CASE(SingeTrackImpactParameters, tracks* vertices, d0, l0, t0,
   // check that computed impact parameters are meaningful
   ImpactParametersAndSigma output =
       ipEstimator
-          .estimateImpactParameters(track, myConstraint, geoContext,
-                                    magFieldContext)
+          .getImpactParameters(track, myConstraint, geoContext, magFieldContext)
           .value();
-  BOOST_CHECK_NE(output.IPd0, 0.);
-  BOOST_CHECK_NE(output.IPz0, 0.);
+  BOOST_CHECK_NE(output.d0, 0.);
+  BOOST_CHECK_NE(output.z0, 0.);
   // TODO what about the other struct members? can the parameter space be
   // restricted further?
 }
diff --git a/Tests/UnitTests/Core/Vertexing/KalmanVertexTrackUpdaterTests.cpp b/Tests/UnitTests/Core/Vertexing/KalmanVertexTrackUpdaterTests.cpp
index 49cf65ec13b..2b84244f742 100644
--- a/Tests/UnitTests/Core/Vertexing/KalmanVertexTrackUpdaterTests.cpp
+++ b/Tests/UnitTests/Core/Vertexing/KalmanVertexTrackUpdaterTests.cpp
@@ -181,14 +181,13 @@ BOOST_AUTO_TEST_CASE(Kalman_Vertex_TrackUpdater) {
 
     // The old distance
     double oldDistance =
-        ip3dEst.calculate3dDistance(geoContext, fittedParamsCopy, vtxPos, state)
+        ip3dEst.calculateDistance(geoContext, fittedParamsCopy, vtxPos, state)
             .value();
 
     // The new distance after update
     double newDistance =
         ip3dEst
-            .calculate3dDistance(geoContext, trkAtVtx.fittedParams, vtxPos,
-                                 state)
+            .calculateDistance(geoContext, trkAtVtx.fittedParams, vtxPos, state)
             .value();
     if (debug) {
       std::cout << "Old distance: " << oldDistance << std::endl;

From 4a4f858d41f3c7f7634155ed881457493149668c Mon Sep 17 00:00:00 2001
From: felix-russo <72298366+felix-russo@users.noreply.github.com>
Date: Fri, 29 Sep 2023 15:07:10 +0200
Subject: [PATCH 05/20] refactor: rename local variables and improve comments
 for IVF (#2485)

- Rename some variables
- Improve some comments
- One little change: Previously `hypotVariance` was set to 1 if it was 0, which seems like a random quick fix. I think it is more correct to skip the track in this case because the expression in line 408 would diverge and the if-condition should evaluate to `false`.
![image](https://github.com/acts-project/acts/assets/72298366/2a582bad-88bc-447e-9c8a-35d91670c235)
---
 .../Acts/Vertexing/IterativeVertexFinder.hpp  |  59 +++---
 .../Acts/Vertexing/IterativeVertexFinder.ipp  | 171 +++++++++---------
 .../Vertexing/IterativeVertexFinderTests.cpp  |   2 +-
 3 files changed, 120 insertions(+), 112 deletions(-)

diff --git a/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp b/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp
index ace00f7fda9..57b572e0f3e 100644
--- a/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp
+++ b/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp
@@ -38,16 +38,16 @@ namespace Acts {
 ///   for fitting the single vertex.
 /// 3.1 If the vertex is a 'good' vertex (i.e. meets requirements) and no
 ///   track reassignment after first fit is required, go to step 4. If vertex
-///   is not a good vertex, remove all tracks in perigeesToFit from seedTracks.
+///   is not a good vertex, remove all tracks in tracksToFit from seedTracks.
 /// 3.2 If vertex meets requirements and track reassignment after first fit
 ///   is required, iterate over all previously found vertices ("old vertex")
 ///   and over all their tracksAtVertex. Compare compatibility of each track
 ///   with old vertex and current vertex. If track is more compatible with
 ///   current vertex, remove track from old vertex, put track back to
-///   perigeesToFit and refit current vertex with additional track.
+///   tracksToFit and refit current vertex with additional track.
 /// 4. If good vertex, `removeUsedCompatibleTracks` method is called, which
 ///   removes all used tracks that are compatible with the fitted vertex
-///   from `perigeesToFit` and `seedTracks`. It also removes outliers tracks
+///   from `tracksToFit` and `seedTracks`. It also removes outliers tracks
 ///   from tracksAtVertex if not compatible.
 /// 5. Add vertex to vertexCollection
 /// 6. Repeat until no seedTracks are left or max. number of vertices found
@@ -94,11 +94,22 @@ class IterativeVertexFinder {
     /// ImpactPointEstimator
     IPEstimator ipEst;
 
-    // Vertex finder configuration variables
+    /// Vertex finder configuration variables.
+    /// Tracks that are within a distance of
+    ///
+    /// significanceCutSeeding * sqrt(sigma(d0)^2+sigma(z0)^2)
+    ///
+    /// are considered compatible with the vertex.
     double significanceCutSeeding = 10;
-    double maximumChi2cutForSeeding = 36.;
+    double maximumChi2CutForSeeding = 36.;
     int maxVertices = 50;
+
+    /// Assign a certain fraction of compatible tracks to a different (so-called
+    /// split) vertex if boolean is set to true.
     bool createSplitVertices = false;
+    /// Inverse of the fraction of tracks that will be assigned to the split
+    /// vertex. E.g., if splitVerticesTrkInvFraction = 2, about 50% of
+    /// compatible tracks will be assigned to the split vertex.
     int splitVerticesTrkInvFraction = 2;
     bool reassignTracksAfterFirstFit = false;
     bool doMaxTracksCut = false;
@@ -188,12 +199,12 @@ class IterativeVertexFinder {
       const std::vector<const InputTrack_t*>& seedTracks,
       const VertexingOptions<InputTrack_t>& vertexingOptions) const;
 
-  /// @brief Removes all tracks in perigeesToFit from seedTracks
+  /// @brief Removes all tracks in tracksToRemove from seedTracks
   ///
-  /// @param perigeesToFit Tracks to be removed from seedTracks
+  /// @param tracksToRemove Tracks to be removed from seedTracks
   /// @param seedTracks List to remove tracks from
-  void removeAllTracks(const std::vector<const InputTrack_t*>& perigeesToFit,
-                       std::vector<const InputTrack_t*>& seedTracks) const;
+  void removeTracks(const std::vector<const InputTrack_t*>& tracksToRemove,
+                    std::vector<const InputTrack_t*>& seedTracks) const;
 
   /// @brief Function for calculating how compatible
   /// a given track is to a given vertex
@@ -210,34 +221,34 @@ class IterativeVertexFinder {
       State& state) const;
 
   /// @brief Function that removes used tracks compatible with
-  /// current vertex (`myVertex`) from `perigeesToFit` and `seedTracks`
-  /// as well as outliers from myVertex.tracksAtVertex
+  /// current vertex (`vertex`) from `tracksToFit` and `seedTracks`
+  /// as well as outliers from vertex.tracksAtVertex
   ///
-  /// @param myVertex Current vertex
-  /// @param perigeesToFit Tracks used to fit `myVertex`
+  /// @param vertex Current vertex
+  /// @param tracksToFit Tracks used to fit `vertex`
   /// @param seedTracks Tracks used for vertex seeding
   /// @param vertexingOptions Vertexing options
   /// @param state The state object
   Result<void> removeUsedCompatibleTracks(
-      Vertex<InputTrack_t>& myVertex,
-      std::vector<const InputTrack_t*>& perigeesToFit,
+      Vertex<InputTrack_t>& vertex,
+      std::vector<const InputTrack_t*>& tracksToFit,
       std::vector<const InputTrack_t*>& seedTracks,
       const VertexingOptions<InputTrack_t>& vertexingOptions,
       State& state) const;
 
   /// @brief Function that fills vector with tracks compatible with seed vertex
   ///
-  /// @param perigeeList List of all available tracks used for seeding
+  /// @param seedTracks List of all available tracks used for seeding
   /// @param seedVertex Seed vertex
-  /// @param perigeesToFitOut Perigees to fit
-  /// @param perigeesToFitSplitVertexOut Perigees to fit split vertex
+  /// @param tracksToFitOut Tracks to fit
+  /// @param tracksToFitSplitVertexOut Tracks to fit to split vertex
   /// @param vertexingOptions Vertexing options
   /// @param state The state object
-  Result<void> fillPerigeesToFit(
-      const std::vector<const InputTrack_t*>& perigeeList,
+  Result<void> fillTracksToFit(
+      const std::vector<const InputTrack_t*>& seedTracks,
       const Vertex<InputTrack_t>& seedVertex,
-      std::vector<const InputTrack_t*>& perigeesToFitOut,
-      std::vector<const InputTrack_t*>& perigeesToFitSplitVertexOut,
+      std::vector<const InputTrack_t*>& tracksToFitOut,
+      std::vector<const InputTrack_t*>& tracksToFitSplitVertexOut,
       const VertexingOptions<InputTrack_t>& vertexingOptions,
       State& state) const;
 
@@ -246,7 +257,7 @@ class IterativeVertexFinder {
   ///
   /// @param vertexCollection Collection of vertices
   /// @param currentVertex Current vertex to assign tracks to
-  /// @param perigeesToFit Perigees to fit vector
+  /// @param tracksToFit Tracks to fit vector
   /// @param seedTracks Seed tracks vector
   /// @param origTracks Vector of original track objects
   /// @param vertexingOptions Vertexing options
@@ -256,7 +267,7 @@ class IterativeVertexFinder {
   Result<bool> reassignTracksToNewVertex(
       std::vector<Vertex<InputTrack_t>>& vertexCollection,
       Vertex<InputTrack_t>& currentVertex,
-      std::vector<const InputTrack_t*>& perigeesToFit,
+      std::vector<const InputTrack_t*>& tracksToFit,
       std::vector<const InputTrack_t*>& seedTracks,
       const std::vector<const InputTrack_t*>& origTracks,
       const VertexingOptions<InputTrack_t>& vertexingOptions,
diff --git a/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp b/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
index 8c9c6c1fe29..749beefed4b 100644
--- a/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
+++ b/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
@@ -40,45 +40,43 @@ auto Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::find(
     /// End seeding
     /// Now take only tracks compatible with current seed
     // Tracks used for the fit in this iteration
-    std::vector<const InputTrack_t*> perigeesToFit;
-    std::vector<const InputTrack_t*> perigeesToFitSplitVertex;
+    std::vector<const InputTrack_t*> tracksToFit;
+    std::vector<const InputTrack_t*> tracksToFitSplitVertex;
 
     // Fill vector with tracks to fit, only compatible with seed:
-    auto res =
-        fillPerigeesToFit(seedTracks, seedVertex, perigeesToFit,
-                          perigeesToFitSplitVertex, vertexingOptions, state);
+    auto res = fillTracksToFit(seedTracks, seedVertex, tracksToFit,
+                               tracksToFitSplitVertex, vertexingOptions, state);
 
     if (!res.ok()) {
       return res.error();
     }
 
-    ACTS_DEBUG("Perigees used for fit: " << perigeesToFit.size());
+    ACTS_DEBUG("Number of tracks used for fit: " << tracksToFit.size());
 
     /// Begin vertex fit
     Vertex<InputTrack_t> currentVertex;
     Vertex<InputTrack_t> currentSplitVertex;
 
-    if (vertexingOptions.useConstraintInFit && !perigeesToFit.empty()) {
+    if (vertexingOptions.useConstraintInFit && !tracksToFit.empty()) {
       auto fitResult = m_cfg.vertexFitter.fit(
-          perigeesToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
+          tracksToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
       if (fitResult.ok()) {
         currentVertex = std::move(*fitResult);
       } else {
         return fitResult.error();
       }
-    } else if (!vertexingOptions.useConstraintInFit &&
-               perigeesToFit.size() > 1) {
+    } else if (!vertexingOptions.useConstraintInFit && tracksToFit.size() > 1) {
       auto fitResult = m_cfg.vertexFitter.fit(
-          perigeesToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
+          tracksToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
       if (fitResult.ok()) {
         currentVertex = std::move(*fitResult);
       } else {
         return fitResult.error();
       }
     }
-    if (m_cfg.createSplitVertices && perigeesToFitSplitVertex.size() > 1) {
+    if (m_cfg.createSplitVertices && tracksToFitSplitVertex.size() > 1) {
       auto fitResult =
-          m_cfg.vertexFitter.fit(perigeesToFitSplitVertex, m_cfg.linearizer,
+          m_cfg.vertexFitter.fit(tracksToFitSplitVertex, m_cfg.linearizer,
                                  vertexingOptions, state.fitterState);
       if (fitResult.ok()) {
         currentSplitVertex = std::move(*fitResult);
@@ -104,14 +102,14 @@ auto Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::find(
                           nTracksAtVertex >= 2));
 
     if (!isGoodVertex) {
-      removeAllTracks(perigeesToFit, seedTracks);
+      removeTracks(tracksToFit, seedTracks);
     } else {
       if (m_cfg.reassignTracksAfterFirstFit && (!m_cfg.createSplitVertices)) {
         // vertex is good vertex here
         // but add tracks which may have been missed
 
         auto result = reassignTracksToNewVertex(
-            vertexCollection, currentVertex, perigeesToFit, seedTracks,
+            vertexCollection, currentVertex, tracksToFit, seedTracks,
             origTracks, vertexingOptions, state);
         if (!result.ok()) {
           return result.error();
@@ -121,7 +119,7 @@ auto Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::find(
       }  // end reassignTracksAfterFirstFit case
          // still good vertex? might have changed in the meanwhile
       if (isGoodVertex) {
-        removeUsedCompatibleTracks(currentVertex, perigeesToFit, seedTracks,
+        removeUsedCompatibleTracks(currentVertex, tracksToFit, seedTracks,
                                    vertexingOptions, state);
 
         ACTS_DEBUG(
@@ -137,9 +135,9 @@ auto Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::find(
       isGoodSplitVertex = (ndfSplitVertex > 0 && nTracksAtSplitVertex >= 2);
 
       if (!isGoodSplitVertex) {
-        removeAllTracks(perigeesToFitSplitVertex, seedTracks);
+        removeTracks(tracksToFitSplitVertex, seedTracks);
       } else {
-        removeUsedCompatibleTracks(currentSplitVertex, perigeesToFitSplitVertex,
+        removeUsedCompatibleTracks(currentSplitVertex, tracksToFitSplitVertex,
                                    seedTracks, vertexingOptions, state);
       }
     }
@@ -195,17 +193,16 @@ auto Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::getVertexSeed(
 }
 
 template <typename vfitter_t, typename sfinder_t>
-void Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeAllTracks(
-    const std::vector<const InputTrack_t*>& perigeesToFit,
+void Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeTracks(
+    const std::vector<const InputTrack_t*>& tracksToRemove,
     std::vector<const InputTrack_t*>& seedTracks) const {
-  for (const auto& fitPerigee : perigeesToFit) {
-    const BoundTrackParameters& fitPerigeeParams =
-        m_extractParameters(*fitPerigee);
+  for (const auto& trk : tracksToRemove) {
+    const BoundTrackParameters& params = m_extractParameters(*trk);
     // Find track in seedTracks
     auto foundIter =
         std::find_if(seedTracks.begin(), seedTracks.end(),
-                     [&fitPerigeeParams, this](const auto seedTrk) {
-                       return fitPerigeeParams == m_extractParameters(*seedTrk);
+                     [&params, this](const auto seedTrk) {
+                       return params == m_extractParameters(*seedTrk);
                      });
     if (foundIter != seedTracks.end()) {
       // Remove track from seed tracks
@@ -257,12 +254,11 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::getCompatibility(
 template <typename vfitter_t, typename sfinder_t>
 Acts::Result<void>
 Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
-    Vertex<InputTrack_t>& myVertex,
-    std::vector<const InputTrack_t*>& perigeesToFit,
+    Vertex<InputTrack_t>& vertex, std::vector<const InputTrack_t*>& tracksToFit,
     std::vector<const InputTrack_t*>& seedTracks,
     const VertexingOptions<InputTrack_t>& vertexingOptions,
     State& state) const {
-  std::vector<TrackAtVertex<InputTrack_t>> tracksAtVertex = myVertex.tracks();
+  std::vector<TrackAtVertex<InputTrack_t>> tracksAtVertex = vertex.tracks();
 
   for (const auto& trackAtVtx : tracksAtVertex) {
     // Check compatibility
@@ -282,16 +278,16 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
       ACTS_WARNING("Track trackAtVtx not found in seedTracks!");
     }
 
-    // Find and remove track from perigeesToFit
+    // Find and remove track from tracksToFit
     auto foundFitIter =
-        std::find_if(perigeesToFit.begin(), perigeesToFit.end(),
+        std::find_if(tracksToFit.begin(), tracksToFit.end(),
                      [&trackAtVtx](const auto fitTrk) {
                        return trackAtVtx.originalParams == fitTrk;
                      });
-    if (foundFitIter != perigeesToFit.end()) {
-      perigeesToFit.erase(foundFitIter);
+    if (foundFitIter != tracksToFit.end()) {
+      tracksToFit.erase(foundFitIter);
     } else {
-      ACTS_WARNING("Track trackAtVtx not found in perigeesToFit!");
+      ACTS_WARNING("Track trackAtVtx not found in tracksToFit!");
     }
   }  // end iteration over tracksAtVertex
 
@@ -299,19 +295,19 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
              << seedTracks.size() << " seed tracks left.");
 
   // Now start considering outliers
-  // perigeesToFit that are left here were below
+  // tracksToFit that are left here were below
   // m_cfg.cutOffTrackWeight threshold and are hence outliers
-  ACTS_DEBUG("Number of outliers: " << perigeesToFit.size());
+  ACTS_DEBUG("Number of outliers: " << tracksToFit.size());
 
-  const std::shared_ptr<PerigeeSurface> myVertexPerigeeSurface =
+  const std::shared_ptr<PerigeeSurface> vertexPerigeeSurface =
       Surface::makeShared<PerigeeSurface>(
-          VectorHelpers::position(myVertex.fullPosition()));
+          VectorHelpers::position(vertex.fullPosition()));
 
-  for (const auto& myPerigeeToFit : perigeesToFit) {
+  for (const auto& trk : tracksToFit) {
     // calculate chi2 w.r.t. last fitted vertex
     auto result =
-        getCompatibility(m_extractParameters(*myPerigeeToFit), myVertex,
-                         *myVertexPerigeeSurface, vertexingOptions, state);
+        getCompatibility(m_extractParameters(*trk), vertex,
+                         *vertexPerigeeSurface, vertexingOptions, state);
 
     if (!result.ok()) {
       return result.error();
@@ -321,11 +317,10 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
 
     // check if sufficiently compatible with last fitted vertex
     // (quite loose constraint)
-    if (chi2 < m_cfg.maximumChi2cutForSeeding) {
-      auto foundIter = std::find_if(seedTracks.begin(), seedTracks.end(),
-                                    [&myPerigeeToFit](const auto seedTrk) {
-                                      return myPerigeeToFit == seedTrk;
-                                    });
+    if (chi2 < m_cfg.maximumChi2CutForSeeding) {
+      auto foundIter =
+          std::find_if(seedTracks.begin(), seedTracks.end(),
+                       [&trk](const auto seedTrk) { return trk == seedTrk; });
       if (foundIter != seedTracks.end()) {
         // Remove track from seed tracks
         seedTracks.erase(foundIter);
@@ -334,11 +329,9 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
     } else {
       // Track not compatible with vertex
       // Remove track from current vertex
-      auto foundIter =
-          std::find_if(tracksAtVertex.begin(), tracksAtVertex.end(),
-                       [&myPerigeeToFit](auto trk) {
-                         return myPerigeeToFit == trk.originalParams;
-                       });
+      auto foundIter = std::find_if(
+          tracksAtVertex.begin(), tracksAtVertex.end(),
+          [&trk](auto trkAtVtx) { return trk == trkAtVtx.originalParams; });
       if (foundIter != tracksAtVertex.end()) {
         // Remove track from seed tracks
         tracksAtVertex.erase(foundIter);
@@ -347,46 +340,47 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
   }
 
   // set updated (possibly with removed outliers) tracksAtVertex to vertex
-  myVertex.setTracksAtVertex(tracksAtVertex);
+  vertex.setTracksAtVertex(tracksAtVertex);
 
   return {};
 }
 
 template <typename vfitter_t, typename sfinder_t>
 Acts::Result<void>
-Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::fillPerigeesToFit(
-    const std::vector<const InputTrack_t*>& perigeeList,
+Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::fillTracksToFit(
+    const std::vector<const InputTrack_t*>& seedTracks,
     const Vertex<InputTrack_t>& seedVertex,
-    std::vector<const InputTrack_t*>& perigeesToFitOut,
-    std::vector<const InputTrack_t*>& perigeesToFitSplitVertexOut,
+    std::vector<const InputTrack_t*>& tracksToFitOut,
+    std::vector<const InputTrack_t*>& tracksToFitSplitVertexOut,
     const VertexingOptions<InputTrack_t>& vertexingOptions,
     State& state) const {
-  int numberOfTracks = perigeeList.size();
+  int numberOfTracks = seedTracks.size();
 
   // Count how many tracks are used for fit
   int count = 0;
-  // Fill perigeesToFit vector with tracks compatible with seed
-  for (const auto& sTrack : perigeeList) {
+  // Fill tracksToFit vector with tracks compatible with seed
+  for (const auto& sTrack : seedTracks) {
+    // If there are only few tracks left, add them to fit regardless of their
+    // position:
     if (numberOfTracks <= 2) {
-      perigeesToFitOut.push_back(sTrack);
+      tracksToFitOut.push_back(sTrack);
       ++count;
     } else if (numberOfTracks <= 4 && !m_cfg.createSplitVertices) {
-      perigeesToFitOut.push_back(sTrack);
+      tracksToFitOut.push_back(sTrack);
       ++count;
     } else if (numberOfTracks <= 4 * m_cfg.splitVerticesTrkInvFraction &&
                m_cfg.createSplitVertices) {
-      // Only few tracks left, put them into fit regardless their position
-      if (count % m_cfg.splitVerticesTrkInvFraction == 0) {
-        perigeesToFitOut.push_back(sTrack);
+      if (count % m_cfg.splitVerticesTrkInvFraction != 0) {
+        tracksToFitOut.push_back(sTrack);
         ++count;
       } else {
-        perigeesToFitSplitVertexOut.push_back(sTrack);
+        tracksToFitSplitVertexOut.push_back(sTrack);
         ++count;
       }
     }
-    // still large amount of tracks available, check compatibility
+    // If a large amount of tracks is available, we check their compatibility
+    // with the vertex before adding them to the fit:
     else {
-      // check first that distance is not too large
       const BoundTrackParameters& sTrackParams = m_extractParameters(*sTrack);
       auto distanceRes = m_cfg.ipEst.calculateDistance(
           vertexingOptions.geoContext, sTrackParams, seedVertex.position(),
@@ -399,22 +393,25 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::fillPerigeesToFit(
         return VertexingError::NoCovariance;
       }
 
-      double error =
+      // sqrt(sigma(d0)^2+sigma(z0)^2), where sigma(d0)^2 is the variance of d0
+      double hypotVariance =
           sqrt((*(sTrackParams.covariance()))(eBoundLoc0, eBoundLoc0) +
                (*(sTrackParams.covariance()))(eBoundLoc1, eBoundLoc1));
 
-      if (error == 0.) {
-        ACTS_WARNING("Error is zero. Setting to 1.");
-        error = 1.;
+      if (hypotVariance == 0.) {
+        ACTS_WARNING(
+            "Track impact parameter covariances are zero. Track was not "
+            "assigned to vertex.");
+        continue;
       }
 
-      if (*distanceRes / error < m_cfg.significanceCutSeeding) {
+      if (*distanceRes / hypotVariance < m_cfg.significanceCutSeeding) {
         if (!m_cfg.createSplitVertices ||
-            count % m_cfg.splitVerticesTrkInvFraction == 0) {
-          perigeesToFitOut.push_back(sTrack);
+            count % m_cfg.splitVerticesTrkInvFraction != 0) {
+          tracksToFitOut.push_back(sTrack);
           ++count;
         } else {
-          perigeesToFitSplitVertexOut.push_back(sTrack);
+          tracksToFitSplitVertexOut.push_back(sTrack);
           ++count;
         }
       }
@@ -428,7 +425,7 @@ Acts::Result<bool>
 Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
     std::vector<Vertex<InputTrack_t>>& vertexCollection,
     Vertex<InputTrack_t>& currentVertex,
-    std::vector<const InputTrack_t*>& perigeesToFit,
+    std::vector<const InputTrack_t*>& tracksToFit,
     std::vector<const InputTrack_t*>& seedTracks,
     const std::vector<const InputTrack_t*>& /* origTracks */,
     const VertexingOptions<InputTrack_t>& vertexingOptions,
@@ -458,12 +455,12 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
         tracksIter++;
         continue;
       }
-      // use original perigee parameter of course
-      BoundTrackParameters trackPerigee =
+      // use original perigee parameters
+      BoundTrackParameters origParams =
           m_extractParameters(*(tracksIter->originalParams));
 
       // compute compatibility
-      auto resultNew = getCompatibility(trackPerigee, currentVertex,
+      auto resultNew = getCompatibility(origParams, currentVertex,
                                         *currentVertexPerigeeSurface,
                                         vertexingOptions, state);
       if (!resultNew.ok()) {
@@ -472,7 +469,7 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
       double chi2NewVtx = *resultNew;
 
       auto resultOld =
-          getCompatibility(trackPerigee, vertexIt, *vertexItPerigeeSurface,
+          getCompatibility(origParams, vertexIt, *vertexItPerigeeSurface,
                            vertexingOptions, state);
       if (!resultOld.ok()) {
         return Result<bool>::failure(resultOld.error());
@@ -483,7 +480,7 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
                                                         << chi2OldVtx);
 
       if (chi2NewVtx < chi2OldVtx) {
-        perigeesToFit.push_back(tracksIter->originalParams);
+        tracksToFit.push_back(tracksIter->originalParams);
         // origTrack was already deleted from seedTracks previously
         // (when assigned to old vertex)
         // add it now back to seedTracks to be able to consistently
@@ -492,8 +489,8 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
         seedTracks.push_back(tracksIter->originalParams);
         // seedTracks.push_back(*std::find_if(
         //     origTracks.begin(), origTracks.end(),
-        //     [&trackPerigee, this](auto origTrack) {
-        //       return trackPerigee == m_extractParameters(*origTrack);
+        //     [&origParams, this](auto origTrack) {
+        //       return origParams == m_extractParameters(*origTrack);
         //     }));
 
         numberOfAddedTracks += 1;
@@ -521,17 +518,17 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
   // set first to default vertex to be able to check if still good vertex
   // later
   currentVertex = Vertex<InputTrack_t>();
-  if (vertexingOptions.useConstraintInFit && !perigeesToFit.empty()) {
+  if (vertexingOptions.useConstraintInFit && !tracksToFit.empty()) {
     auto fitResult = m_cfg.vertexFitter.fit(
-        perigeesToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
+        tracksToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
     if (fitResult.ok()) {
       currentVertex = std::move(*fitResult);
     } else {
       return Result<bool>::success(false);
     }
-  } else if (!vertexingOptions.useConstraintInFit && perigeesToFit.size() > 1) {
+  } else if (!vertexingOptions.useConstraintInFit && tracksToFit.size() > 1) {
     auto fitResult = m_cfg.vertexFitter.fit(
-        perigeesToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
+        tracksToFit, m_cfg.linearizer, vertexingOptions, state.fitterState);
     if (fitResult.ok()) {
       currentVertex = std::move(*fitResult);
     } else {
@@ -551,7 +548,7 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::reassignTracksToNewVertex(
                         nTracksAtVertex >= 2));
 
   if (!isGoodVertex) {
-    removeAllTracks(perigeesToFit, seedTracks);
+    removeTracks(tracksToFit, seedTracks);
 
     ACTS_DEBUG("Going to new iteration with "
                << seedTracks.size() << "seed tracks after BAD vertex.");
diff --git a/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp b/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp
index 3955c2c6369..c6b12e58f6e 100644
--- a/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp
+++ b/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp
@@ -599,7 +599,7 @@ BOOST_AUTO_TEST_CASE(iterative_finder_test_athena_reference) {
   VertexFinder::Config cfg(bFitter, std::move(linearizer), std::move(sFinder),
                            ipEstimator);
   cfg.maxVertices = 200;
-  cfg.maximumChi2cutForSeeding = 49;
+  cfg.maximumChi2CutForSeeding = 49;
   cfg.significanceCutSeeding = 12;
 
   VertexFinder finder(cfg);

From 4515f2c41d80805dd566206bd6e3d6212cc07924 Mon Sep 17 00:00:00 2001
From: Paul Gessinger <paul.gessinger@cern.ch>
Date: Fri, 29 Sep 2023 16:12:50 +0200
Subject: [PATCH 06/20] ci: Update LCG tests (#2410)

Removes the forces assertions from the LCG builds, because I've observed these to fail in clang15 on LCG 103.
I don't think we necessarily need to have these turned on, and we know this is a hack anyway.

This PR then also includes builds for LCG104, and switches the LCG102 build over to LCG102b_ATLAS_23 (which is what Athena currently builds on)

Blocked by:
- #2407
---
 .gitlab-ci.yml                                | 35 +++++++++++--------
 Core/include/Acts/Definitions/Algebra.hpp     |  3 ++
 .../CombinatorialKalmanFilter.hpp             |  2 +-
 .../Geometry/GenericCuboidVolumeBounds.cpp    |  4 +++
 .../Root/src/RootTrajectoryStatesWriter.cpp   |  5 ++-
 .../Autodiff/AutodiffExtensionWrapper.hpp     |  7 ++++
 .../Core/Surfaces/SurfaceBoundsTests.cpp      | 18 ++++++++--
 .../Digitization/PlanarSurfaceMaskTests.cpp   |  2 +-
 8 files changed, 57 insertions(+), 19 deletions(-)

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 8da586e8abc..c85bdf75f42 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -358,7 +358,19 @@ linux_ubuntu_2204_clang:
   before_script:
     - 'echo "LCG_VERSION: ${LCG_VERSION}"'
     - 'echo "COMPILER: ${COMPILER}"'
-    - 'if [ "$OS" = "alma9"  ]; then export LCG_PLATFORM="centos9"; else export LCG_PLATFORM="$OS"; fi'
+
+    # Figure out LCG platform name based on version number and OS
+    - >
+      if [ "$OS" = "alma9"  ]; then 
+        if [ "$LCG_VERSION" = "104" ]; then 
+          export LCG_PLATFORM="el9"
+        else
+          export LCG_PLATFORM="centos9"
+        fi
+      else 
+        export LCG_PLATFORM="$OS"
+      fi
+
     - 'echo "LCG_PLATFORM: ${LCG_PLATFORM}"'
     - source /cvmfs/sft.cern.ch/lcg/views/LCG_${LCG_VERSION}/x86_64-${LCG_PLATFORM}-${COMPILER}-opt/setup.sh
       
@@ -383,7 +395,7 @@ linux_ubuntu_2204_clang:
       -DCMAKE_INSTALL_PREFIX="${INSTALL_DIR}"
       -DACTS_LOG_FAILURE_THRESHOLD=WARNING
       -DACTS_BUILD_EXAMPLES_PYTHON_BINDINGS=ON
-      -DACTS_FORCE_ASSERTIONS=ON
+      -DACTS_FORCE_ASSERTIONS=OFF
       -DACTS_BUILD_UNITTESTS=ON
       -DACTS_BUILD_INTEGRATIONTESTS=ON
       -DACTS_BUILD_BENCHMARKS=ON
@@ -424,14 +436,11 @@ lcg_102b:
       - OS: [centos7]
         COMPILER: [gcc11]
 
-      - OS: [centos8, alma9]
-        COMPILER: [gcc11]
-
-lcg_103:
+lcg_104:
   <<: *lcg_base_job
 
   variables:
-    LCG_VERSION: "103"
+    LCG_VERSION: "104"
 
   parallel:
     matrix:
@@ -439,16 +448,14 @@ lcg_103:
         COMPILER: 
           - gcc11
           - gcc12
-          # currently failing:
-          # - clang12
-          # - clang15
 
       - OS: [alma9]
         COMPILER: 
           - gcc11
           - gcc12
+          - gcc13
+          - clang16
+
+      - OS: [centos8]
+        COMPILER: [gcc11]
 
-  rules:
-    - if: '$COMPILER == "clang12" || $COMPILER == "clang15"'
-      allow_failure: true
-    - when: on_success
diff --git a/Core/include/Acts/Definitions/Algebra.hpp b/Core/include/Acts/Definitions/Algebra.hpp
index ac34a91b11c..b7dc446489a 100644
--- a/Core/include/Acts/Definitions/Algebra.hpp
+++ b/Core/include/Acts/Definitions/Algebra.hpp
@@ -12,6 +12,9 @@
 #if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wmisleading-indentation"
+#if __GNUC__ == 13
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #pragma GCC diagnostic pop
diff --git a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp
index f3753e66f7a..4fdbe956aa3 100644
--- a/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp
+++ b/Core/include/Acts/TrackFinding/CombinatorialKalmanFilter.hpp
@@ -412,7 +412,7 @@ class CombinatorialKalmanFilter {
           // The last active tip
           const auto& lastActiveTip = result.activeTips.back().first;
           // Get the index of previous state
-          const auto& iprevious =
+          auto iprevious =
               result.fittedStates->getTrackState(lastActiveTip).previous();
           // Find the track states which have the same previous state and remove
           // them from active tips
diff --git a/Core/src/Geometry/GenericCuboidVolumeBounds.cpp b/Core/src/Geometry/GenericCuboidVolumeBounds.cpp
index 4de4d75ca6a..35dea03539f 100644
--- a/Core/src/Geometry/GenericCuboidVolumeBounds.cpp
+++ b/Core/src/Geometry/GenericCuboidVolumeBounds.cpp
@@ -90,6 +90,10 @@ Acts::OrientedSurfaces Acts::GenericCuboidVolumeBounds::orientedSurfaces(
     // z is normal in local coordinates
     // Volume local to surface local
     Transform3 vol2srf;
+
+    // GCC13+ Complains about maybe uninitialized memory inside Eigen's SVD code
+    // This warning is ignored in this compilation unit by using the pragma at
+    // the top of this file.
     vol2srf = (Eigen::Quaternion<Transform3::Scalar>().setFromTwoVectors(
         normal, Vector3::UnitZ()));
 
diff --git a/Examples/Io/Root/src/RootTrajectoryStatesWriter.cpp b/Examples/Io/Root/src/RootTrajectoryStatesWriter.cpp
index 3cf5584c735..c1a3b13261b 100644
--- a/Examples/Io/Root/src/RootTrajectoryStatesWriter.cpp
+++ b/Examples/Io/Root/src/RootTrajectoryStatesWriter.cpp
@@ -492,7 +492,10 @@ ActsExamples::ProcessCode ActsExamples::RootTrajectoryStatesWriter::writeT(
               auto H = state.effectiveProjector();
               auto V = state.effectiveCalibratedCovariance();
               auto resCov = V + H * covariance * H.transpose();
-              auto res = state.effectiveCalibrated() - H * parameters;
+              Acts::ActsDynamicVector res(state.calibratedSize());
+              res.setZero();
+
+              res = state.effectiveCalibrated() - H * parameters;
 
               m_res_x_hit.push_back(res[Acts::eBoundLoc0]);
               m_err_x_hit.push_back(
diff --git a/Plugins/Autodiff/include/Acts/Plugins/Autodiff/AutodiffExtensionWrapper.hpp b/Plugins/Autodiff/include/Acts/Plugins/Autodiff/AutodiffExtensionWrapper.hpp
index 033121d860b..32ba281618c 100644
--- a/Plugins/Autodiff/include/Acts/Plugins/Autodiff/AutodiffExtensionWrapper.hpp
+++ b/Plugins/Autodiff/include/Acts/Plugins/Autodiff/AutodiffExtensionWrapper.hpp
@@ -72,8 +72,15 @@ struct AutodiffExtensionWrapper {
   bool finalize(propagator_state_t& state, const stepper_t& stepper,
                 const navigator_t& navigator, const double h,
                 FreeMatrix& D) const {
+#if defined(__GNUC__) && __GNUC__ == 12 && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wuse-after-free"
+#endif
     m_doubleExtension.finalize(state, stepper, navigator, h);
     return transportMatrix(state, stepper, navigator, h, D);
+#if defined(__GNUC__) && __GNUC__ == 12 && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif
   }
 
  private:
diff --git a/Tests/UnitTests/Core/Surfaces/SurfaceBoundsTests.cpp b/Tests/UnitTests/Core/Surfaces/SurfaceBoundsTests.cpp
index fbda9bc3142..f93b0facf92 100644
--- a/Tests/UnitTests/Core/Surfaces/SurfaceBoundsTests.cpp
+++ b/Tests/UnitTests/Core/Surfaces/SurfaceBoundsTests.cpp
@@ -29,9 +29,23 @@ class SurfaceBoundsStub : public SurfaceBounds {
     std::iota(m_values.begin(), m_values.end(), 0);
   }
 
+#if defined(__GNUC__) && __GNUC__ == 13 && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
+#endif
+  SurfaceBoundsStub(const SurfaceBoundsStub& other) = default;
+#if defined(__GNUC__) && __GNUC__ == 13 && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif
+
   ~SurfaceBoundsStub() override = default;
-  BoundsType type() const final { return SurfaceBounds::eOther; }
-  std::vector<double> values() const override { return m_values; }
+  BoundsType type() const final {
+    return SurfaceBounds::eOther;
+  }
+  std::vector<double> values() const override {
+    return m_values;
+  }
   bool inside(const Vector2& /*lpos*/,
               const BoundaryCheck& /*bcheck*/) const final {
     return true;
diff --git a/Tests/UnitTests/Fatras/Digitization/PlanarSurfaceMaskTests.cpp b/Tests/UnitTests/Fatras/Digitization/PlanarSurfaceMaskTests.cpp
index 76838b3b9da..ac10be6ba50 100644
--- a/Tests/UnitTests/Fatras/Digitization/PlanarSurfaceMaskTests.cpp
+++ b/Tests/UnitTests/Fatras/Digitization/PlanarSurfaceMaskTests.cpp
@@ -155,7 +155,7 @@ BOOST_DATA_TEST_CASE(RandomPlanarSurfaceMask,
 
     if (index == 0) {
       std::ofstream shape;
-      const auto centerXY = surface->center(geoCtx).segment<2>(0);
+      const Acts::Vector2 centerXY = surface->center(geoCtx).segment<2>(0);
 
       // 0 - write the shape
       shape.open("PlanarSurfaceMask" + name + "Borders.csv");

From 29bd620c044ecd0edcd7d963efb5f45a98e2cec2 Mon Sep 17 00:00:00 2001
From: goetzgaycken <goetz.gaycken@freenet.de>
Date: Fri, 29 Sep 2023 18:49:39 +0200
Subject: [PATCH 07/20] perf: do not sort track state candidates with chi2
 above cut-off. (#2489)

When selecting measurements for the next ckf step, only sort
the candidate track states with chi2 below the cut-off by chi2.

This is a minor improvement which reduces the track finding time
of the ckf in ttbar PU200 with the ITK detector by 1-2%. It does not
have any impact on the tracks found by the ckf.

Co-authored-by: Paul Gessinger <1058585+paulgessinger@users.noreply.github.com>
---
 .../Acts/TrackFinding/MeasurementSelector.hpp | 139 ++++++++++--------
 1 file changed, 75 insertions(+), 64 deletions(-)

diff --git a/Core/include/Acts/TrackFinding/MeasurementSelector.hpp b/Core/include/Acts/TrackFinding/MeasurementSelector.hpp
index 457cdf31fd5..4205a2c0982 100644
--- a/Core/include/Acts/TrackFinding/MeasurementSelector.hpp
+++ b/Core/include/Acts/TrackFinding/MeasurementSelector.hpp
@@ -19,6 +19,7 @@
 #include "Acts/Utilities/Result.hpp"
 #include "Acts/Utilities/TypeTraits.hpp"
 
+#include <cassert>
 #include <cstddef>
 #include <iterator>
 #include <limits>
@@ -106,60 +107,82 @@ class MeasurementSelector {
       return CombinatorialKalmanFilterError::MeasurementSelectionFailed;
     }
 
+    assert(!cuts->chi2CutOff.empty());
+    const auto& chi2CutOff = cuts->chi2CutOff;
+    auto maxChi2Cut = *std::max_element(chi2CutOff.begin(), chi2CutOff.end());
     double minChi2 = std::numeric_limits<double>::max();
     size_t minIndex = 0;
-    size_t index = 0;
-    // Loop over all measurements to select the compatible measurements
-    for (auto& trackState : candidates) {
-      // Take the parameter covariance
-      // const auto predicted = tackState.predicted();
-      // const auto predictedCovariance = trackState.predictedCovariance();
-
-      double chi2 = calculateChi2(
-          // This abuses an incorrectly sized vector / matrix to access the
-          // data pointer! This works (don't use the matrix as is!), but be
-          // careful!
-          trackState
-              .template calibrated<MultiTrajectoryTraits::MeasurementSizeMax>()
-              .data(),
-          trackState
-              .template calibratedCovariance<
-                  MultiTrajectoryTraits::MeasurementSizeMax>()
-              .data(),
-          trackState.predicted(), trackState.predictedCovariance(),
-          trackState.projector(), trackState.calibratedSize());
-
-      trackState.chi2() = chi2;
-
-      // Search for the measurement with the min chi2
-      if (chi2 < minChi2) {
-        minChi2 = chi2;
-        minIndex = index;
+    auto trackStateIterEnd = candidates.end();
+    {
+      auto trackStateIter = candidates.begin();
+      // Loop over all measurements to select the compatible measurements
+      // Sort track states which do not satisfy the chi2 cut to the end.
+      // When done trackStateIterEnd will point to the first element that
+      // does not satisfy the chi2 cut.
+      assert(trackStateIter != trackStateIterEnd);
+      for (;;) {
+        double chi2 = calculateChi2(
+            // This abuses an incorrectly sized vector / matrix to access the
+            // data pointer! This works (don't use the matrix as is!), but be
+            // careful!
+            trackStateIter
+                ->template calibrated<
+                    MultiTrajectoryTraits::MeasurementSizeMax>()
+                .data(),
+            trackStateIter
+                ->template calibratedCovariance<
+                    MultiTrajectoryTraits::MeasurementSizeMax>()
+                .data(),
+            trackStateIter->predicted(), trackStateIter->predictedCovariance(),
+            trackStateIter->projector(), trackStateIter->calibratedSize());
+
+        trackStateIter->chi2() = chi2;
+
+        // only consider track states which pass the chi2 cut
+        if (chi2 >= maxChi2Cut ||
+            chi2 >= VariableCut<traj_t>(*trackStateIter, cuts, chi2CutOff,
+                                        logger)) {
+          --trackStateIterEnd;
+          // still check whether the element has the smallest chi2 in case an
+          // outlier is returned.
+          if (chi2 < minChi2) {
+            minChi2 = chi2;
+            // the current element will be swapped with the last unchecked
+            // element if they are different
+            minIndex = std::distance(candidates.begin(), trackStateIterEnd);
+          }
+
+          if (trackStateIter == trackStateIterEnd) {
+            break;
+          } else {
+            // swap rejected element with last element in list
+            std::swap(*trackStateIter, *trackStateIterEnd);
+          }
+        } else {
+          // Search for the measurement with the min chi2
+          // @if there is a track state which passes the cut-off there is
+          // no need to remember the track state with the smallest chi2.
+          ++trackStateIter;
+          if (trackStateIter == trackStateIterEnd) {
+            break;
+          }
+        }
       }
-
-      index++;
     }
 
-    const auto& chi2CutOff = cuts->chi2CutOff;
-
-    {
-      // If there is no selected measurement, return the measurement with the
-      // best chi2 and tag it as an outlier
+    // If there are no measurements below the chi2 cut off, return the
+    // measurement with the best chi2 and tag it as an outlier
+    if (candidates.begin() == trackStateIterEnd) {
       const auto bestIt = std::next(candidates.begin(), minIndex);
-      const auto chi2 = bestIt->chi2();
-      const auto chi2Cut =
-          VariableCut<traj_t>(*bestIt, cuts, chi2CutOff, logger);
-      ACTS_VERBOSE("Chi2: " << chi2 << ", max: " << chi2Cut);
-      if (chi2 >= chi2Cut) {
-        ACTS_VERBOSE(
-            "No measurement candidate. Return an outlier measurement.");
-        isOutlier = true;
-        // return single item range, no sorting necessary
-        return Result::success(std::pair{bestIt, std::next(bestIt, 1)});
-      }
+      ACTS_VERBOSE(
+          "No measurement candidate. Return an outlier measurement chi2="
+          << bestIt->chi2());
+      isOutlier = true;
+      // return single item range, no sorting necessary
+      return Result::success(std::pair{bestIt, std::next(bestIt, 1)});
     }
 
-    std::sort(candidates.begin(), candidates.end(),
+    std::sort(candidates.begin(), trackStateIterEnd,
               [](const auto& tsa, const auto& tsb) {
                 return tsa.chi2() < tsb.chi2();
               });
@@ -168,30 +191,18 @@ class MeasurementSelector {
     const auto numMeasurementsCut = VariableCut<traj_t>(
         *candidates.begin(), cuts, cuts->numMeasurementsCutOff, logger);
 
-    auto endIterator = candidates.begin();
-    auto maxIterator = candidates.end();
-    if (candidates.size() > numMeasurementsCut && numMeasurementsCut > 0) {
-      maxIterator = std::next(candidates.begin(), numMeasurementsCut);
+    if (static_cast<std::size_t>(std::distance(
+            candidates.begin(), trackStateIterEnd)) > numMeasurementsCut &&
+        numMeasurementsCut > 0) {
+      trackStateIterEnd = std::next(candidates.begin(), numMeasurementsCut);
     }
 
-    ++endIterator;  // best measurement already confirmed good
-    for (; endIterator != maxIterator; ++endIterator) {
-      const auto chi2 = endIterator->chi2();
-      const auto chi2Cut =
-          VariableCut<traj_t>(*endIterator, cuts, chi2CutOff, logger);
-      ACTS_VERBOSE("Chi2: " << chi2 << ", max: " << chi2Cut);
-      if (chi2 >= chi2Cut) {
-        break;  // endIterator now points at the first track state with chi2
-                // larger than our cutoff => defines the end of our returned
-                // range
-      }
-    }
     ACTS_VERBOSE("Number of selected measurements: "
-                 << std::distance(candidates.begin(), endIterator)
+                 << std::distance(candidates.begin(), trackStateIterEnd)
                  << ", max: " << numMeasurementsCut);
 
     isOutlier = false;
-    return std::pair{candidates.begin(), endIterator};
+    return std::pair{candidates.begin(), trackStateIterEnd};
   }
 
  private:

From 20fa77603bdae3153420995903bc5a47d6b91e78 Mon Sep 17 00:00:00 2001
From: Andreas Stefl <stefl.andreas@gmail.com>
Date: Fri, 29 Sep 2023 20:40:19 +0200
Subject: [PATCH 08/20] refactor: Align initial track param covariance (#2491)

Currently the initial track param covariance will depend on the chosen seeder. Truth smeared will use the configured sigmas to cook up a cov while to other seeder take a directly configured one.

Here I align the truth smeared to the others which also allows to experiment with the covariance separately from the smearing.
---
 .../TrackParamsEstimationAlgorithm.hpp        | 17 +++------
 .../src/TrackParamsEstimationAlgorithm.cpp    | 22 ++---------
 .../TruthTracking/ParticleSmearing.cpp        | 37 ++++++++++++-------
 .../TruthTracking/ParticleSmearing.hpp        |  4 ++
 .../python/acts/examples/reconstruction.py    | 10 ++---
 Examples/Python/src/TrackFinding.cpp          |  4 +-
 Examples/Python/src/TruthTracking.cpp         |  2 +-
 .../Reconstruction/Common/RecCKFTracks.cpp    |  8 +---
 8 files changed, 45 insertions(+), 59 deletions(-)

diff --git a/Examples/Algorithms/TrackFinding/include/ActsExamples/TrackFinding/TrackParamsEstimationAlgorithm.hpp b/Examples/Algorithms/TrackFinding/include/ActsExamples/TrackFinding/TrackParamsEstimationAlgorithm.hpp
index eb3c8a4b380..56d14f0d1db 100644
--- a/Examples/Algorithms/TrackFinding/include/ActsExamples/TrackFinding/TrackParamsEstimationAlgorithm.hpp
+++ b/Examples/Algorithms/TrackFinding/include/ActsExamples/TrackFinding/TrackParamsEstimationAlgorithm.hpp
@@ -69,18 +69,11 @@ class TrackParamsEstimationAlgorithm final : public IAlgorithm {
     std::shared_ptr<const Acts::MagneticFieldProvider> magneticField;
     /// The minimum magnetic field to trigger the track parameters estimation
     double bFieldMin = 0.1 * Acts::UnitConstants::T;
-    /// Constant term of the loc0 resolution.
-    double sigmaLoc0 = 25 * Acts::UnitConstants::um;
-    /// Constant term of the loc1 resolution.
-    double sigmaLoc1 = 100 * Acts::UnitConstants::um;
-    /// Phi angular resolution.
-    double sigmaPhi = 0.02 * Acts::UnitConstants::degree;
-    /// Theta angular resolution.
-    double sigmaTheta = 0.02 * Acts::UnitConstants::degree;
-    /// q/p resolution.
-    double sigmaQOverP = 0.1 / Acts::UnitConstants::GeV;
-    /// Time resolution.
-    double sigmaT0 = 10 * Acts::UnitConstants::ns;
+    /// Initial covariance matrix diagonal.
+    std::array<double, 6> initialSigmas = {
+        25 * Acts::UnitConstants::um,       100 * Acts::UnitConstants::um,
+        0.02 * Acts::UnitConstants::degree, 0.02 * Acts::UnitConstants::degree,
+        0.1 / Acts::UnitConstants::GeV,     10 * Acts::UnitConstants::ns};
     /// Inflate initial covariance.
     std::array<double, 6> initialVarInflation = {1., 1., 1., 1., 1., 1.};
     /// Particle hypothesis.
diff --git a/Examples/Algorithms/TrackFinding/src/TrackParamsEstimationAlgorithm.cpp b/Examples/Algorithms/TrackFinding/src/TrackParamsEstimationAlgorithm.cpp
index e966d164c33..09602d0526b 100644
--- a/Examples/Algorithms/TrackFinding/src/TrackParamsEstimationAlgorithm.cpp
+++ b/Examples/Algorithms/TrackFinding/src/TrackParamsEstimationAlgorithm.cpp
@@ -58,24 +58,10 @@ ActsExamples::TrackParamsEstimationAlgorithm::TrackParamsEstimationAlgorithm(
   m_outputTracks.maybeInitialize(m_cfg.outputProtoTracks);
 
   // Set up the track parameters covariance (the same for all tracks)
-  m_covariance(Acts::eBoundLoc0, Acts::eBoundLoc0) =
-      m_cfg.initialVarInflation[Acts::eBoundLoc0] * cfg.sigmaLoc0 *
-      m_cfg.sigmaLoc0;
-  m_covariance(Acts::eBoundLoc1, Acts::eBoundLoc1) =
-      m_cfg.initialVarInflation[Acts::eBoundLoc1] * cfg.sigmaLoc1 *
-      m_cfg.sigmaLoc1;
-  m_covariance(Acts::eBoundPhi, Acts::eBoundPhi) =
-      m_cfg.initialVarInflation[Acts::eBoundPhi] * cfg.sigmaPhi *
-      m_cfg.sigmaPhi;
-  m_covariance(Acts::eBoundTheta, Acts::eBoundTheta) =
-      m_cfg.initialVarInflation[Acts::eBoundTheta] * cfg.sigmaTheta *
-      m_cfg.sigmaTheta;
-  m_covariance(Acts::eBoundQOverP, Acts::eBoundQOverP) =
-      m_cfg.initialVarInflation[Acts::eBoundQOverP] * cfg.sigmaQOverP *
-      m_cfg.sigmaQOverP;
-  m_covariance(Acts::eBoundTime, Acts::eBoundTime) =
-      m_cfg.initialVarInflation[Acts::eBoundTime] * m_cfg.sigmaT0 *
-      m_cfg.sigmaT0;
+  for (std::size_t i = Acts::eBoundLoc0; i < Acts::eBoundSize; ++i) {
+    m_covariance(i, i) = m_cfg.initialVarInflation[i] * m_cfg.initialSigmas[i] *
+                         m_cfg.initialSigmas[i];
+  }
 }
 
 ActsExamples::ProcessCode ActsExamples::TrackParamsEstimationAlgorithm::execute(
diff --git a/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.cpp b/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.cpp
index 2e31051253c..3642cff8b3d 100644
--- a/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.cpp
+++ b/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.cpp
@@ -127,20 +127,29 @@ ActsExamples::ProcessCode ActsExamples::ParticleSmearing::execute(
 
       // build the track covariance matrix using the smearing sigmas
       Acts::BoundSquareMatrix cov = Acts::BoundSquareMatrix::Zero();
-      cov(Acts::eBoundLoc0, Acts::eBoundLoc0) =
-          m_cfg.initialVarInflation[Acts::eBoundLoc0] * sigmaD0 * sigmaD0;
-      cov(Acts::eBoundLoc1, Acts::eBoundLoc1) =
-          m_cfg.initialVarInflation[Acts::eBoundLoc1] * sigmaZ0 * sigmaZ0;
-      cov(Acts::eBoundTime, Acts::eBoundTime) =
-          m_cfg.initialVarInflation[Acts::eBoundTime] * sigmaT0 * sigmaT0;
-      cov(Acts::eBoundPhi, Acts::eBoundPhi) =
-          m_cfg.initialVarInflation[Acts::eBoundPhi] * sigmaPhi * sigmaPhi;
-      cov(Acts::eBoundTheta, Acts::eBoundTheta) =
-          m_cfg.initialVarInflation[Acts::eBoundTheta] * sigmaTheta *
-          sigmaTheta;
-      cov(Acts::eBoundQOverP, Acts::eBoundQOverP) =
-          m_cfg.initialVarInflation[Acts::eBoundQOverP] * sigmaQOverP *
-          sigmaQOverP;
+      if (m_cfg.initialSigmas) {
+        // use the initial sigmas if set
+        for (std::size_t i = Acts::eBoundLoc0; i < Acts::eBoundSize; ++i) {
+          cov(i, i) = m_cfg.initialVarInflation[i] * (*m_cfg.initialSigmas)[i] *
+                      (*m_cfg.initialSigmas)[i];
+        }
+      } else {
+        // otherwise use the smearing sigmas
+        cov(Acts::eBoundLoc0, Acts::eBoundLoc0) =
+            m_cfg.initialVarInflation[Acts::eBoundLoc0] * sigmaD0 * sigmaD0;
+        cov(Acts::eBoundLoc1, Acts::eBoundLoc1) =
+            m_cfg.initialVarInflation[Acts::eBoundLoc1] * sigmaZ0 * sigmaZ0;
+        cov(Acts::eBoundTime, Acts::eBoundTime) =
+            m_cfg.initialVarInflation[Acts::eBoundTime] * sigmaT0 * sigmaT0;
+        cov(Acts::eBoundPhi, Acts::eBoundPhi) =
+            m_cfg.initialVarInflation[Acts::eBoundPhi] * sigmaPhi * sigmaPhi;
+        cov(Acts::eBoundTheta, Acts::eBoundTheta) =
+            m_cfg.initialVarInflation[Acts::eBoundTheta] * sigmaTheta *
+            sigmaTheta;
+        cov(Acts::eBoundQOverP, Acts::eBoundQOverP) =
+            m_cfg.initialVarInflation[Acts::eBoundQOverP] * sigmaQOverP *
+            sigmaQOverP;
+      }
 
       parameters.emplace_back(perigee, params, cov, particleHypothesis);
     }
diff --git a/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.hpp b/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.hpp
index 1dc765af532..4129cefea9f 100644
--- a/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.hpp
+++ b/Examples/Algorithms/TruthTracking/ActsExamples/TruthTracking/ParticleSmearing.hpp
@@ -21,6 +21,7 @@
 #include <array>
 #include <limits>
 #include <memory>
+#include <optional>
 #include <string>
 
 namespace ActsExamples {
@@ -58,6 +59,9 @@ class ParticleSmearing final : public IAlgorithm {
     double sigmaTheta = 1 * Acts::UnitConstants::degree;
     /// Relative momentum resolution.
     double sigmaPRel = 0.05;
+    /// Optional. Initial covariance matrix diagonal. Overwrites the default if
+    /// set.
+    std::optional<std::array<double, 6>> initialSigmas = std::nullopt;
     /// Inflate the initial covariance matrix
     std::array<double, 6> initialVarInflation = {1., 1., 1., 1., 1., 1.};
     /// Random numbers service.
diff --git a/Examples/Python/python/acts/examples/reconstruction.py b/Examples/Python/python/acts/examples/reconstruction.py
index 99d5c18822b..0f613e79f04 100644
--- a/Examples/Python/python/acts/examples/reconstruction.py
+++ b/Examples/Python/python/acts/examples/reconstruction.py
@@ -258,6 +258,7 @@ def addSeeding(
             rnd,
             selectedParticles,
             particleSmearingSigmas,
+            initialSigmas,
             initialVarInflation,
             particleHypothesis,
             logLevel,
@@ -317,12 +318,7 @@ def addSeeding(
             trackingGeometry=trackingGeometry,
             magneticField=field,
             **acts.examples.defaultKWArgs(
-                sigmaLoc0=initialSigmas[0] if initialSigmas is not None else None,
-                sigmaLoc1=initialSigmas[1] if initialSigmas is not None else None,
-                sigmaPhi=initialSigmas[2] if initialSigmas is not None else None,
-                sigmaTheta=initialSigmas[3] if initialSigmas is not None else None,
-                sigmaQOverP=initialSigmas[4] if initialSigmas is not None else None,
-                sigmaT0=initialSigmas[5] if initialSigmas is not None else None,
+                initialSigmas=initialSigmas,
                 initialVarInflation=initialVarInflation,
                 particleHypothesis=particleHypothesis,
             ),
@@ -393,6 +389,7 @@ def addTruthSmearedSeeding(
     rnd: Optional[acts.examples.RandomNumbers],
     selectedParticles: str,
     particleSmearingSigmas: ParticleSmearingSigmas,
+    initialSigmas: Optional[List[float]],
     initialVarInflation: List[float],
     particleHypothesis: Optional[acts.ParticleHypothesis],
     logLevel: acts.logging.Level = None,
@@ -420,6 +417,7 @@ def addTruthSmearedSeeding(
             sigmaPhi=particleSmearingSigmas.phi,
             sigmaTheta=particleSmearingSigmas.theta,
             sigmaPRel=particleSmearingSigmas.pRel,
+            initialSigmas=initialSigmas,
             initialVarInflation=initialVarInflation,
             particleHypothesis=particleHypothesis,
         ),
diff --git a/Examples/Python/src/TrackFinding.cpp b/Examples/Python/src/TrackFinding.cpp
index f72b017ed06..297e41005c3 100644
--- a/Examples/Python/src/TrackFinding.cpp
+++ b/Examples/Python/src/TrackFinding.cpp
@@ -261,8 +261,8 @@ void addTrackFinding(Context& ctx) {
       ActsExamples::TrackParamsEstimationAlgorithm, mex,
       "TrackParamsEstimationAlgorithm", inputSeeds, inputProtoTracks,
       outputTrackParameters, outputSeeds, outputProtoTracks, trackingGeometry,
-      magneticField, bFieldMin, sigmaLoc0, sigmaLoc1, sigmaPhi, sigmaTheta,
-      sigmaQOverP, sigmaT0, initialVarInflation, particleHypothesis);
+      magneticField, bFieldMin, initialSigmas, initialVarInflation,
+      particleHypothesis);
 
   {
     using Alg = ActsExamples::TrackFindingAlgorithm;
diff --git a/Examples/Python/src/TruthTracking.cpp b/Examples/Python/src/TruthTracking.cpp
index a5a3475da1f..af4f36a2b4c 100644
--- a/Examples/Python/src/TruthTracking.cpp
+++ b/Examples/Python/src/TruthTracking.cpp
@@ -90,7 +90,7 @@ void addTruthTracking(Context& ctx) {
       ActsExamples::ParticleSmearing, mex, "ParticleSmearing", inputParticles,
       outputTrackParameters, sigmaD0, sigmaD0PtA, sigmaD0PtB, sigmaZ0,
       sigmaZ0PtA, sigmaZ0PtB, sigmaT0, sigmaPhi, sigmaTheta, sigmaPRel,
-      initialVarInflation, particleHypothesis, randomNumbers);
+      initialSigmas, initialVarInflation, particleHypothesis, randomNumbers);
 
   {
     using Alg = ActsExamples::ParticleSelector;
diff --git a/Examples/Run/Reconstruction/Common/RecCKFTracks.cpp b/Examples/Run/Reconstruction/Common/RecCKFTracks.cpp
index 231a0fa6066..f8c92d8f98c 100644
--- a/Examples/Run/Reconstruction/Common/RecCKFTracks.cpp
+++ b/Examples/Run/Reconstruction/Common/RecCKFTracks.cpp
@@ -245,12 +245,8 @@ int runRecCKFTracks(
     paramsEstimationCfg.trackingGeometry = trackingGeometry;
     paramsEstimationCfg.magneticField = magneticField;
     paramsEstimationCfg.bFieldMin = 0.1_T;
-    paramsEstimationCfg.sigmaLoc0 = 25._um;
-    paramsEstimationCfg.sigmaLoc1 = 100._um;
-    paramsEstimationCfg.sigmaPhi = 0.02_degree;
-    paramsEstimationCfg.sigmaTheta = 0.02_degree;
-    paramsEstimationCfg.sigmaQOverP = 0.1 / 1._GeV;
-    paramsEstimationCfg.sigmaT0 = 1400._s;
+    paramsEstimationCfg.initialSigmas = {25._um,      100._um,      0.02_degree,
+                                         0.02_degree, 0.1 / 1._GeV, 1400._s};
     paramsEstimationCfg.initialVarInflation =
         vm["ckf-initial-variance-inflation"].template as<Options::Reals<6>>();
 

From 363d111adb6a61ae558c3bc2abb02cf499d14d10 Mon Sep 17 00:00:00 2001
From: Andreas Stefl <stefl.andreas@gmail.com>
Date: Fri, 29 Sep 2023 22:44:28 +0200
Subject: [PATCH 09/20] feat: Make CKF branching configurable from python
 (#2486)

Currently we hardcode the branching config in python which makes it hard to find the default and unchangeable for the user. With this PR I add a struct `TrackFindingConfig` which defines the branching params and lower the defaults in hope to spare some resources with ttbar events.
---
 .../python/acts/examples/reconstruction.py    | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/Examples/Python/python/acts/examples/reconstruction.py b/Examples/Python/python/acts/examples/reconstruction.py
index 0f613e79f04..f3a3c7f96d6 100644
--- a/Examples/Python/python/acts/examples/reconstruction.py
+++ b/Examples/Python/python/acts/examples/reconstruction.py
@@ -119,6 +119,12 @@
     defaults=[(None, None)] * 7 + [None],
 )
 
+CkfConfig = namedtuple(
+    "CkfConfig",
+    ["chi2CutOff", "numMeasurementsCutOff"],
+    defaults=[15.0, 10],
+)
+
 AmbiguityResolutionConfig = namedtuple(
     "AmbiguityResolutionConfig",
     ["maximumSharedHits", "nMeasurementsMin", "maximumIterations"],
@@ -919,12 +925,14 @@ def addTruthTrackingGsf(
 
 @acts.examples.NamedTypeArgs(
     trackSelectorConfig=TrackSelectorConfig,
+    ckfConfig=CkfConfig,
 )
 def addCKFTracks(
     s: acts.examples.Sequencer,
     trackingGeometry: acts.TrackingGeometry,
     field: acts.MagneticFieldProvider,
     trackSelectorConfig: Optional[TrackSelectorConfig] = None,
+    ckfConfig: CkfConfig = CkfConfig(),
     outputDirCsv: Optional[Union[Path, str]] = None,
     outputDirRoot: Optional[Union[Path, str]] = None,
     writeTrajectories: bool = True,
@@ -958,7 +966,16 @@ def addCKFTracks(
     trackFinder = acts.examples.TrackFindingAlgorithm(
         level=customLogLevel(),
         measurementSelectorCfg=acts.MeasurementSelector.Config(
-            [(acts.GeometryIdentifier(), ([], [15.0], [10]))]
+            [
+                (
+                    acts.GeometryIdentifier(),
+                    (
+                        [],
+                        [ckfConfig.chi2CutOff],
+                        [ckfConfig.numMeasurementsCutOff],
+                    ),
+                )
+            ]
         ),
         trackSelectorCfg=acts.TrackSelector.Config(
             **acts.examples.defaultKWArgs(

From dd3348c0ec8a6410100642c9bc3b3a895792d440 Mon Sep 17 00:00:00 2001
From: Louis-Guillaume Gagnon <gagnonlg@protonmail.com>
Date: Mon, 2 Oct 2023 10:29:59 +0200
Subject: [PATCH 10/20] feat: Add angles of incidence in RootMeasurementWriter
 (#2493)

For measurement calibrations, the angles of incidence on a surface are very useful. Previously, the MeasurementReader only saved the truth particle direction in the global frame, so this PR adds the angle of incidence.

To validate, here are the angles of incidence for 1-pixel clusters on the Generic detector barrel:

![f_phi](https://github.com/acts-project/acts/assets/2743680/c2e2b0b6-2d8a-4388-a63b-61aa2490f05e)

![f_theta](https://github.com/acts-project/acts/assets/2743680/bac7f163-8980-4523-a9cd-2fe018c6db85)

(presumably, the phi distribution is asymetric because of the Lorentz angle)

closes #2484
---
 Core/include/Acts/Utilities/VectorHelpers.hpp | 16 ++++
 .../Io/Root/RootMeasurementWriter.hpp         | 10 ++-
 .../Io/Root/src/RootMeasurementWriter.cpp     |  9 ++-
 Examples/Python/tests/root_file_hashes.txt    | 10 +--
 .../UnitTests/Core/Utilities/HelpersTests.cpp | 78 +++++++++++++++++++
 5 files changed, 116 insertions(+), 7 deletions(-)

diff --git a/Core/include/Acts/Utilities/VectorHelpers.hpp b/Core/include/Acts/Utilities/VectorHelpers.hpp
index c88b9a09785..058e8dcf133 100644
--- a/Core/include/Acts/Utilities/VectorHelpers.hpp
+++ b/Core/include/Acts/Utilities/VectorHelpers.hpp
@@ -216,5 +216,21 @@ inline auto makeVector4(const Eigen::MatrixBase<vector3_t>& vec3,
   return vec4;
 }
 
+/// Calculate the incident angles of a vector with in a given reference frame
+/// @tparam Derived Eigen derived concrete type
+/// @param direction The crossing direction in the global frame
+/// @param globalToLocal Rotation from global to local frame
+/// @return The angles of incidence in the two normal planes
+inline std::pair<double, double> incidentAngles(
+    const Acts::Vector3& direction,
+    const Acts::RotationMatrix3& globalToLocal) {
+  Acts::Vector3 trfDir = globalToLocal * direction;
+  // The angles are defined with respect to the measurement axis
+  // i.e. "head-on" == pi/2, parallel = 0
+  double phi = std::atan2(trfDir[2], trfDir[0]);
+  double theta = std::atan2(trfDir[2], trfDir[1]);
+  return {phi, theta};
+}
+
 }  // namespace VectorHelpers
 }  // namespace Acts
diff --git a/Examples/Io/Root/include/ActsExamples/Io/Root/RootMeasurementWriter.hpp b/Examples/Io/Root/include/ActsExamples/Io/Root/RootMeasurementWriter.hpp
index caf688a564d..02c3da63ff7 100644
--- a/Examples/Io/Root/include/ActsExamples/Io/Root/RootMeasurementWriter.hpp
+++ b/Examples/Io/Root/include/ActsExamples/Io/Root/RootMeasurementWriter.hpp
@@ -94,6 +94,8 @@ class RootMeasurementWriter final : public WriterT<MeasurementContainer> {
     float trueGx = 0.;
     float trueGy = 0.;
     float trueGz = 0.;
+    float incidentPhi = 0.;
+    float incidentTheta = 0.;
 
     /// Reconstruction information
     float recBound[Acts::eBoundSize] = {};
@@ -130,6 +132,8 @@ class RootMeasurementWriter final : public WriterT<MeasurementContainer> {
       tree->Branch("true_x", &trueGx);
       tree->Branch("true_y", &trueGy);
       tree->Branch("true_z", &trueGz);
+      tree->Branch("true_incident_phi", &incidentPhi);
+      tree->Branch("true_incident_theta", &incidentTheta);
     }
 
     /// Constructor from GeometryIdentifier
@@ -198,7 +202,8 @@ class RootMeasurementWriter final : public WriterT<MeasurementContainer> {
     /// @param xt The true 4D global position
     /// @param dir The true particle direction
     void fillTruthParameters(const Acts::Vector2& lp, const Acts::Vector4& xt,
-                             const Acts::Vector3& dir) {
+                             const Acts::Vector3& dir,
+                             const std::pair<double, double> angles) {
       trueBound[Acts::eBoundLoc0] = lp[Acts::eBoundLoc0];
       trueBound[Acts::eBoundLoc1] = lp[Acts::eBoundLoc1];
       trueBound[Acts::eBoundPhi] = Acts::VectorHelpers::phi(dir);
@@ -208,6 +213,9 @@ class RootMeasurementWriter final : public WriterT<MeasurementContainer> {
       trueGx = xt[Acts::ePos0];
       trueGy = xt[Acts::ePos1];
       trueGz = xt[Acts::ePos2];
+
+      incidentPhi = angles.first;
+      incidentTheta = angles.second;
     }
 
     /// Convenience function to fill bound parameters
diff --git a/Examples/Io/Root/src/RootMeasurementWriter.cpp b/Examples/Io/Root/src/RootMeasurementWriter.cpp
index 03a82af285a..e6440c8fd18 100644
--- a/Examples/Io/Root/src/RootMeasurementWriter.cpp
+++ b/Examples/Io/Root/src/RootMeasurementWriter.cpp
@@ -143,7 +143,14 @@ ActsExamples::ProcessCode ActsExamples::RootMeasurementWriter::writeT(
           // Use average truth in the case of multiple contributing sim hits
           auto [local, pos4, dir] = averageSimHits(ctx.geoContext, surface,
                                                    simHits, indices, logger());
-          dTree->fillTruthParameters(local, pos4, dir);
+          Acts::RotationMatrix3 rot =
+              surface
+                  .referenceFrame(ctx.geoContext, pos4.segment<3>(Acts::ePos0),
+                                  dir)
+                  .inverse();
+          std::pair<double, double> angles =
+              Acts::VectorHelpers::incidentAngles(dir, rot);
+          dTree->fillTruthParameters(local, pos4, dir, angles);
           dTree->fillBoundMeasurement(m);
           if (not clusters.empty()) {
             const auto& c = clusters[hitIdx];
diff --git a/Examples/Python/tests/root_file_hashes.txt b/Examples/Python/tests/root_file_hashes.txt
index 41034db8477..cb576e5aee7 100644
--- a/Examples/Python/tests/root_file_hashes.txt
+++ b/Examples/Python/tests/root_file_hashes.txt
@@ -43,12 +43,12 @@ test_material_mapping__material-map_tracks.root: 4e1c866038f0c06b099aa74fd01c3d8
 test_material_mapping__propagation-material.root: 646b8e2bbacec40d0bc4132236f9ab3f03b088e656e6e9b80c47ae03eaf6eab5
 test_volume_material_mapping__material-map-volume_tracks.root: b95561a6247df9e3599a997daa6c1d76461e58f83059b82f2ec27229c9b35e6c
 test_volume_material_mapping__propagation-volume-material.root: b7597dada372d1b4aaec2c4fc3c0db830ce147ecf515c367ac6ba8ffc2708302
-test_digitization_example[smeared]__measurements.root: 8dea40cccf3acaab2792f8994701e8baafb8b334277a7fdf2c7ff45fdbae776b
-test_digitization_example[geometric]__measurements.root: 8b45ed4abc5d7d6dc87de1921df68981465d5917b1d5d458fb5d105700f13402
+test_digitization_example[smeared]__measurements.root: 0888b7bb4da63d15be18c14c5a419c8813f9d76731da94751247dc4a6772c895
+test_digitization_example[geometric]__measurements.root: bade4e094a950f4ecf523b192294e4336da14b4ba6dc5164160cc8e3308cdcd2
 test_digitization_example_input[smeared]__particles.root: 8549ba6e20338004ab8ba299fc65e1ee5071985b46df8f77f887cb6fef56a8ec
-test_digitization_example_input[smeared]__measurements.root: df0e31749f64f52b7917e44c47fa1eda9e72ef53c44c0e09f3c75b7143b99d24
+test_digitization_example_input[smeared]__measurements.root: dd6d1af353a676d28ac398d015a20db736dccec0fb104ea909d81c9156072e18
 test_digitization_example_input[geometric]__particles.root: 8549ba6e20338004ab8ba299fc65e1ee5071985b46df8f77f887cb6fef56a8ec
-test_digitization_example_input[geometric]__measurements.root: b4dba5bb5e60d4540c1d07fb297b2add19d779dfcd29737c8d44f208ff0c0522
+test_digitization_example_input[geometric]__measurements.root: 56a64b3df65fcd04d677fac6b6ee3f1978fe6d7777599bb918d40e514ef45a1f
 test_ckf_tracks_example[generic-full_seeding]__trackstates_ckf.root: 1786b1f1e90a8fe2ad6f534072506bacf8dbcf1a7e25c283a5ab261a319479fb
 test_ckf_tracks_example[generic-full_seeding]__tracksummary_ckf.root: 359be063e44247439490d4ae99fa3c9c240e8c0777b27421b26b63f62c85e2f0
 test_ckf_tracks_example[generic-full_seeding]__performance_seeding_trees.root: 0e0676ffafdb27112fbda50d1cf627859fa745760f98073261dcf6db3f2f991e
@@ -78,7 +78,7 @@ test_root_prop_step_writer[kwargsConstructor]__prop_steps.root: 53adaabc7856c888
 test_root_particle_writer[configPosConstructor]__particles.root: 8ca3987523360e4cd52f9bc138e82230996baa105c77ddb2cde775733d8acc4c
 test_root_particle_writer[configKwConstructor]__particles.root: 8ca3987523360e4cd52f9bc138e82230996baa105c77ddb2cde775733d8acc4c
 test_root_particle_writer[kwargsConstructor]__particles.root: 8ca3987523360e4cd52f9bc138e82230996baa105c77ddb2cde775733d8acc4c
-test_root_meas_writer__meas.root: 283ccfbbe10bf612f499a9d5c4ca7ac1e1dd4fad7f1629342813ecd36ec06acd
+test_root_meas_writer__meas.root: 1e4138b38f7dfe612faef042aed0e9de872ffdaf89c1a386052d937276c35c30
 test_root_simhits_writer[configPosConstructor]__meas.root: 26b51bbd97cd5f915628e150aa286a766a30cecdd511f8476e0c6b2ea62227fa
 test_root_simhits_writer[configKwConstructor]__meas.root: 26b51bbd97cd5f915628e150aa286a766a30cecdd511f8476e0c6b2ea62227fa
 test_root_simhits_writer[kwargsConstructor]__meas.root: 26b51bbd97cd5f915628e150aa286a766a30cecdd511f8476e0c6b2ea62227fa
diff --git a/Tests/UnitTests/Core/Utilities/HelpersTests.cpp b/Tests/UnitTests/Core/Utilities/HelpersTests.cpp
index 8d34ed83267..2a98e4121a0 100644
--- a/Tests/UnitTests/Core/Utilities/HelpersTests.cpp
+++ b/Tests/UnitTests/Core/Utilities/HelpersTests.cpp
@@ -234,6 +234,84 @@ BOOST_AUTO_TEST_CASE(safeInverse) {
   }
 }
 
+BOOST_AUTO_TEST_CASE(incidentAnglesTest) {
+  RotationMatrix3 ref = RotationMatrix3::Identity();
+
+  // Right angle in both planes
+  for (size_t i = 0; i < 3; i++) {
+    Vector3 dir = Vector3::Zero();
+    dir[i] = 1;
+    std::pair<double, double> angles = incidentAngles(dir, ref);
+    double expect = (i < 2) ? 0 : M_PI_2;
+    CHECK_CLOSE_ABS(angles.first, expect,
+                    std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(angles.second, expect,
+                    std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // 45 degree on both axes
+  {
+    Vector3 dir = Vector3({1, 1, 1}).normalized();
+    auto [a0, a1] = incidentAngles(dir, ref);
+    CHECK_CLOSE_ABS(a0, M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // 45 degree on first axis
+  {
+    Vector3 dir = Vector3({1, 0, 1}).normalized();
+    auto [a0, a1] = incidentAngles(dir, ref);
+    CHECK_CLOSE_ABS(a0, M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, M_PI_2, std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // 45 degree on second axis
+  {
+    Vector3 dir = Vector3({0, 1, 1}).normalized();
+    auto [a0, a1] = incidentAngles(dir, ref);
+    CHECK_CLOSE_ABS(a0, M_PI_2, std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // Reverse crossing
+  {
+    Vector3 dir = {0, 0, -1};
+    auto [a0, a1] = incidentAngles(dir, ref);
+    CHECK_CLOSE_ABS(a0, -M_PI_2, std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, -M_PI_2, std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // 45 degree but different quadrant
+  {
+    Vector3 dir = {-1, -1, 1};
+    auto [a0, a1] = incidentAngles(dir, ref);
+    CHECK_CLOSE_ABS(a0, 3 * M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, 3 * M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // 45 degree but different quadrant & other side
+  {
+    Vector3 dir = {-1, -1, -1};
+    auto [a0, a1] = incidentAngles(dir, ref);
+    CHECK_CLOSE_ABS(a0, -3 * M_PI_4,
+                    std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, -3 * M_PI_4,
+                    std::numeric_limits<ActsScalar>::epsilon());
+  }
+
+  // Rotate the reference frame instead
+  {
+    double s45 = std::sin(M_PI_4);
+    double c45 = std::cos(M_PI_4);
+    RotationMatrix3 ref45;
+    ref45 << c45, 0, s45, 0, 1, 0, -s45, 0, c45;
+    Vector3 dir = {0, 0, 1};
+    auto [a0, a1] = incidentAngles(dir, ref45);
+    CHECK_CLOSE_ABS(a0, M_PI_4, std::numeric_limits<ActsScalar>::epsilon());
+    CHECK_CLOSE_ABS(a1, M_PI_2, std::numeric_limits<ActsScalar>::epsilon());
+  }
+}
+
 BOOST_AUTO_TEST_SUITE_END()
 
 }  // namespace Test

From e349434fca5036c10ced7a8529a87f2e25990403 Mon Sep 17 00:00:00 2001
From: felix-russo <72298366+felix-russo@users.noreply.github.com>
Date: Mon, 2 Oct 2023 15:04:38 +0200
Subject: [PATCH 11/20] refactor: rename maximumChi2CutForSeeding (#2495)

I renamed maximumChi2CutForSeeding in #2485, which broke the Athena build. Here, I change the variable name back to the original one as discussed in the stand-up meeting.
---
 Core/include/Acts/Vertexing/IterativeVertexFinder.hpp         | 2 +-
 Core/include/Acts/Vertexing/IterativeVertexFinder.ipp         | 2 +-
 Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp b/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp
index 57b572e0f3e..db8b9716ecc 100644
--- a/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp
+++ b/Core/include/Acts/Vertexing/IterativeVertexFinder.hpp
@@ -101,7 +101,7 @@ class IterativeVertexFinder {
     ///
     /// are considered compatible with the vertex.
     double significanceCutSeeding = 10;
-    double maximumChi2CutForSeeding = 36.;
+    double maximumChi2cutForSeeding = 36.;
     int maxVertices = 50;
 
     /// Assign a certain fraction of compatible tracks to a different (so-called
diff --git a/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp b/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
index 749beefed4b..85e94b65538 100644
--- a/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
+++ b/Core/include/Acts/Vertexing/IterativeVertexFinder.ipp
@@ -317,7 +317,7 @@ Acts::IterativeVertexFinder<vfitter_t, sfinder_t>::removeUsedCompatibleTracks(
 
     // check if sufficiently compatible with last fitted vertex
     // (quite loose constraint)
-    if (chi2 < m_cfg.maximumChi2CutForSeeding) {
+    if (chi2 < m_cfg.maximumChi2cutForSeeding) {
       auto foundIter =
           std::find_if(seedTracks.begin(), seedTracks.end(),
                        [&trk](const auto seedTrk) { return trk == seedTrk; });
diff --git a/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp b/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp
index c6b12e58f6e..3955c2c6369 100644
--- a/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp
+++ b/Tests/UnitTests/Core/Vertexing/IterativeVertexFinderTests.cpp
@@ -599,7 +599,7 @@ BOOST_AUTO_TEST_CASE(iterative_finder_test_athena_reference) {
   VertexFinder::Config cfg(bFitter, std::move(linearizer), std::move(sFinder),
                            ipEstimator);
   cfg.maxVertices = 200;
-  cfg.maximumChi2CutForSeeding = 49;
+  cfg.maximumChi2cutForSeeding = 49;
   cfg.significanceCutSeeding = 12;
 
   VertexFinder finder(cfg);

From c50a62d6d817b2ba07bf525ca0e72f2f6e13bcb1 Mon Sep 17 00:00:00 2001
From: Andreas Salzburger <asalzburger@gmail.com>
Date: Tue, 3 Oct 2023 06:01:03 +0200
Subject: [PATCH 12/20] feat: add material conversion + test for TGeo (#2496)

This is a first PR in a set of a series PRs to establish the ODD in the
new Detector schema.

This particular PR adds the possibility to convert material via
`TGeoMaterial` and adds tests for this.
It also cleans ups the TGeoSurface converter slightly.

Note:
- due to internal unit change of ROOT up to `6.25.01` the unit tests on
this `Material` conversion test is enables only for ROOT versions after
this change.
---
 .../particles_final_fatras_hist.root          | Bin 18063 -> 18064 bytes
 .../particles_final_geant4_hist.root          | Bin 18117 -> 18117 bytes
 .../particles_initial_fatras_hist.root        | Bin 18138 -> 18138 bytes
 .../particles_initial_geant4_hist.root        | Bin 18139 -> 18139 bytes
 .../performance_ambi_orthogonal.root          | Bin 26221 -> 32605 bytes
 .../reference/performance_ambi_seeded.root    | Bin 32729 -> 32705 bytes
 .../reference/performance_ambi_ttbar.root     | Bin 38424 -> 38519 bytes
 ...rformance_amvf_gridseeder_seeded_hist.root | Bin 41377 -> 41342 bytes
 ...erformance_amvf_gridseeder_ttbar_hist.root | Bin 39488 -> 39164 bytes
 .../performance_amvf_orthogonal_hist.root     | Bin 41044 -> 41014 bytes
 .../performance_amvf_seeded_hist.root         | Bin 40990 -> 41090 bytes
 ...performance_amvf_truth_estimated_hist.root | Bin 42059 -> 42044 bytes
 .../performance_amvf_truth_smeared_hist.root  | Bin 41742 -> 41778 bytes
 .../performance_amvf_ttbar_hist.root          | Bin 39588 -> 39526 bytes
 .../reference/performance_ckf_orthogonal.root | Bin 32224 -> 38539 bytes
 .../reference/performance_ckf_seeded.root     | Bin 38573 -> 38826 bytes
 .../performance_ckf_truth_estimated.root      | Bin 28037 -> 34398 bytes
 .../performance_ckf_truth_smeared.root        | Bin 34300 -> 34266 bytes
 .../reference/performance_ckf_ttbar.root      | Bin 39013 -> 39090 bytes
 CI/physmon/reference/performance_gsf.root     | Bin 147987 -> 148224 bytes
 .../performance_ivf_orthogonal_hist.root      | Bin 42609 -> 42594 bytes
 .../performance_ivf_seeded_hist.root          | Bin 42549 -> 42552 bytes
 .../performance_ivf_truth_estimated_hist.root | Bin 43033 -> 43056 bytes
 .../performance_ivf_truth_smeared_hist.root   | Bin 42984 -> 43048 bytes
 .../performance_seeding_orthogonal.root       | Bin 11616 -> 14225 bytes
 .../reference/performance_seeding_seeded.root | Bin 14208 -> 14197 bytes
 .../performance_seeding_truth_estimated.root  | Bin 10711 -> 13307 bytes
 .../reference/performance_seeding_ttbar.root  | Bin 13991 -> 14019 bytes
 .../reference/performance_truth_tracking.root | Bin 154603 -> 154713 bytes
 .../tracksummary_ckf_orthogonal_hist.root     | Bin 42003 -> 42009 bytes
 .../tracksummary_ckf_seeded_hist.root         | Bin 42001 -> 41968 bytes
 ...tracksummary_ckf_truth_estimated_hist.root | Bin 40744 -> 40735 bytes
 .../tracksummary_ckf_truth_smeared_hist.root  | Bin 40719 -> 40731 bytes
 Plugins/TGeo/CMakeLists.txt                   |  27 +++--
 .../Plugins/TGeo/TGeoMaterialConverter.hpp    |  46 ++++++++
 .../Plugins/TGeo/TGeoSurfaceConverter.hpp     |   5 +-
 Plugins/TGeo/src/TGeoDetectorElement.cpp      |  48 ++++-----
 Plugins/TGeo/src/TGeoMaterialConverter.cpp    |  33 ++++++
 Plugins/TGeo/src/TGeoSurfaceConverter.cpp     |  98 +++++++++---------
 Tests/UnitTests/Plugins/TGeo/CMakeLists.txt   |   3 +
 .../Plugins/TGeo/TGeoArb8ConversionTests.cpp  |  13 ++-
 .../Plugins/TGeo/TGeoBBoxConversionTests.cpp  |  57 +++++-----
 .../TGeo/TGeoMaterialConverterTests.cpp       |  82 +++++++++++++++
 .../Plugins/TGeo/TGeoParserTests.cpp          |   6 +-
 .../Plugins/TGeo/TGeoTrd1ConversionTests.cpp  |  11 +-
 .../Plugins/TGeo/TGeoTrd2ConversionTests.cpp  |  20 ++--
 .../Plugins/TGeo/TGeoTubeConversionTests.cpp  |  16 +--
 47 files changed, 334 insertions(+), 131 deletions(-)
 create mode 100644 Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoMaterialConverter.hpp
 create mode 100644 Plugins/TGeo/src/TGeoMaterialConverter.cpp
 create mode 100644 Tests/UnitTests/Plugins/TGeo/TGeoMaterialConverterTests.cpp

diff --git a/CI/physmon/reference/particles_final_fatras_hist.root b/CI/physmon/reference/particles_final_fatras_hist.root
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diff --git a/CI/physmon/reference/particles_final_geant4_hist.root b/CI/physmon/reference/particles_final_geant4_hist.root
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diff --git a/CI/physmon/reference/performance_ambi_seeded.root b/CI/physmon/reference/performance_ambi_seeded.root
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diff --git a/CI/physmon/reference/performance_amvf_gridseeder_seeded_hist.root b/CI/physmon/reference/performance_amvf_gridseeder_seeded_hist.root
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diff --git a/CI/physmon/reference/performance_amvf_gridseeder_ttbar_hist.root b/CI/physmon/reference/performance_amvf_gridseeder_ttbar_hist.root
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diff --git a/CI/physmon/reference/performance_amvf_seeded_hist.root b/CI/physmon/reference/performance_amvf_seeded_hist.root
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diff --git a/CI/physmon/reference/performance_amvf_truth_estimated_hist.root b/CI/physmon/reference/performance_amvf_truth_estimated_hist.root
index 1a522824c10e4184d33428b6f462f270f079cf1e..a57fd2b5680f80cba35373c1e748c8389cdc9120 100644
GIT binary patch
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diff --git a/CI/physmon/reference/performance_amvf_truth_smeared_hist.root b/CI/physmon/reference/performance_amvf_truth_smeared_hist.root
index 178130288837dd67b893a1a4f9dfd50c0f55a446..b8641f44ba596f8eb59e09f02d4a693cf86ace02 100644
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diff --git a/CI/physmon/reference/performance_ckf_orthogonal.root b/CI/physmon/reference/performance_ckf_orthogonal.root
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diff --git a/CI/physmon/reference/performance_ckf_truth_estimated.root b/CI/physmon/reference/performance_ckf_truth_estimated.root
index 2deb94051303b9c5f69fa65db956a74b7a07c7ee..0900d27766f98da988615dbadc4a1ff9293ac43e 100644
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diff --git a/CI/physmon/reference/performance_ckf_truth_smeared.root b/CI/physmon/reference/performance_ckf_truth_smeared.root
index 1c058fd6e16a17ae97b3aa1fd422f6bfdc77674b..791b64d9053f45488eb1c24c3eabb3128a344dc7 100644
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diff --git a/CI/physmon/reference/performance_ivf_orthogonal_hist.root b/CI/physmon/reference/performance_ivf_orthogonal_hist.root
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diff --git a/CI/physmon/reference/performance_ivf_truth_estimated_hist.root b/CI/physmon/reference/performance_ivf_truth_estimated_hist.root
index d0ae0909c603f8565296a9e04ad2491c02676dc1..f5c0bcb33424ffe6a23e7783a65bf2aeccc721e7 100644
GIT binary patch
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diff --git a/CI/physmon/reference/performance_ivf_truth_smeared_hist.root b/CI/physmon/reference/performance_ivf_truth_smeared_hist.root
index 6f145a385d2fb7455c09e5a81dfbfcdb57a471ba..8be38cd06274b697d2ef7d0c7e96a5d0947135aa 100644
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diff --git a/CI/physmon/reference/performance_seeding_orthogonal.root b/CI/physmon/reference/performance_seeding_orthogonal.root
index 21a7a3ada8f50e7c092c707241e7f6ac9fd46238..7b99661a293e2442ae01a6defced66fe8b5e3336 100644
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diff --git a/CI/physmon/reference/performance_seeding_seeded.root b/CI/physmon/reference/performance_seeding_seeded.root
index 768ee39098b56c4b0f4119106990f02a7928a2ce..f10e1527c314c45382def624a0ff7d2b48f758c5 100644
GIT binary patch
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diff --git a/CI/physmon/reference/performance_seeding_truth_estimated.root b/CI/physmon/reference/performance_seeding_truth_estimated.root
index 1b5188be0cbdf4d10702043dbb2b358d03e90902..1bada05677610b45d0bd429bb0290f13f2450ad5 100644
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diff --git a/CI/physmon/reference/performance_seeding_ttbar.root b/CI/physmon/reference/performance_seeding_ttbar.root
index 3d6fd5ac4e56fe3ae0f9fea3ad95e563900134f6..68c32c00b06d9963c057259840341dad03863cd9 100644
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diff --git a/CI/physmon/reference/performance_truth_tracking.root b/CI/physmon/reference/performance_truth_tracking.root
index 629c7ca016cf812bfe59249390157e311f7d2b5b..069dacb1b94377dad73dda2bd1b421926fc7933a 100644
GIT binary patch
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diff --git a/CI/physmon/reference/tracksummary_ckf_truth_estimated_hist.root b/CI/physmon/reference/tracksummary_ckf_truth_estimated_hist.root
index 6f148c6c8d89efe1304e0a9232c8f3608e4f3f54..e249f1a4dd94b15a81b4fab8af6dedf06d60eb85 100644
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diff --git a/CI/physmon/reference/tracksummary_ckf_truth_smeared_hist.root b/CI/physmon/reference/tracksummary_ckf_truth_smeared_hist.root
index 63c09c3330781c277196bd33546953f74990c9b2..a7e3a2b7e8860f5b4ba2a52a3a6312cfbfd2bb7a 100644
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diff --git a/Plugins/TGeo/CMakeLists.txt b/Plugins/TGeo/CMakeLists.txt
index 0d4269b4dd3..74412002e56 100644
--- a/Plugins/TGeo/CMakeLists.txt
+++ b/Plugins/TGeo/CMakeLists.txt
@@ -1,11 +1,24 @@
+
+set(library_sources 
+   src/TGeoCylinderDiscSplitter.cpp  
+   src/TGeoDetectorElement.cpp
+   src/TGeoLayerBuilder.cpp
+   src/TGeoParser.cpp
+   src/TGeoPrimitivesHelper.cpp
+   src/TGeoSurfaceConverter.cpp)
+
+# Internal system of units change, This behavior affected versions up to v6-25-01
+# see: https://root.cern.ch/doc/v626/classTGeoMaterial.html
+if (${ROOT_VERSION} VERSION_GREATER "6.25.01")
+  list(APPEND library_sources src/TGeoMaterialConverter.cpp)
+else ()
+  message(INFO " Skipping TGeoMaterialConverter due to ROOT version ${ROOT_VERSION}")
+endif()
+
 add_library(
-  ActsPluginTGeo SHARED
-  src/TGeoCylinderDiscSplitter.cpp
-  src/TGeoDetectorElement.cpp
-  src/TGeoLayerBuilder.cpp
-  src/TGeoParser.cpp
-  src/TGeoPrimitivesHelper.cpp
-  src/TGeoSurfaceConverter.cpp)
+  ActsPluginTGeo SHARED ${library_sources})
+  
+
 target_include_directories(
   ActsPluginTGeo
   PUBLIC
diff --git a/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoMaterialConverter.hpp b/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoMaterialConverter.hpp
new file mode 100644
index 00000000000..a7d5721334a
--- /dev/null
+++ b/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoMaterialConverter.hpp
@@ -0,0 +1,46 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include "Acts/Definitions/Common.hpp"
+#include "Acts/Material/Material.hpp"
+#include "Acts/Material/MaterialSlab.hpp"
+
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+class TGeoMaterial;
+
+namespace Acts {
+struct TGeoMaterialConverter {
+  /// @brief Nested options struct
+  /// to steer the conversion process
+  struct Options {
+    /// @brief  Convert input TGeo unit to ACTS unit
+    ActsScalar unitLengthScalor = 10.;
+    /// @brief  Convert input TGeo unit to ACTS unit
+    ActsScalar unitMassScalor = 1.;
+  };
+
+  /// @brief Helper method to convert a TGeoMaterial into Acts::MaterialSlab
+  ///
+  /// @param tgMaterial The TGeoMaterial to be converted
+  /// @param thicknessIn The thickness of the ingoing material slab
+  /// @param thicknessOut The thickness of the outgoing material slab
+  /// @param options The conversion options with the unit scalors
+  ///
+  /// @return a material slab object
+  static MaterialSlab materialSlab(const TGeoMaterial& tgMaterial,
+                                   ActsScalar thicknessIn,
+                                   ActsScalar thicknessOut,
+                                   const Options& options);
+};
+}  // namespace Acts
diff --git a/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoSurfaceConverter.hpp b/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoSurfaceConverter.hpp
index 94eddf3983d..08a81c26b6a 100644
--- a/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoSurfaceConverter.hpp
+++ b/Plugins/TGeo/include/Acts/Plugins/TGeo/TGeoSurfaceConverter.hpp
@@ -81,8 +81,9 @@ struct TGeoSurfaceConverter {
   /// @param axes The axes definition
   /// @param scalor The unit scalor between TGeo and Acts
   ///
-  /// @return shared pointer to a surface
-  static std::shared_ptr<Surface> toSurface(
+  /// @return shared pointer to a surface and the original thickness that
+  /// has been condensed to the surface
+  static std::tuple<std::shared_ptr<Surface>, ActsScalar> toSurface(
       const TGeoShape& tgShape, const TGeoMatrix& tgMatrix,
       const std::string& axes, double scalor = 10.) noexcept(false);
 
diff --git a/Plugins/TGeo/src/TGeoDetectorElement.cpp b/Plugins/TGeo/src/TGeoDetectorElement.cpp
index 8ab5ec034b3..9cd527e4915 100644
--- a/Plugins/TGeo/src/TGeoDetectorElement.cpp
+++ b/Plugins/TGeo/src/TGeoDetectorElement.cpp
@@ -45,39 +45,39 @@ Acts::TGeoDetectorElement::TGeoDetectorElement(
   auto sensor = m_detElement->GetVolume();
   auto tgShape = sensor->GetShape();
 
-  auto cylinderComps = TGeoSurfaceConverter::cylinderComponents(
-      *tgShape, rotation, translation, axes, scalor);
-  auto cylinderBounds = std::get<0>(cylinderComps);
-  if (cylinderBounds != nullptr) {
-    m_transform = std::get<1>(cylinderComps);
-    m_bounds = cylinderBounds;
-    m_thickness = std::get<2>(cylinderComps);
-    m_surface = Surface::makeShared<CylinderSurface>(cylinderBounds, *this);
+  auto [cBounds, cTransform, cThickness] =
+      TGeoSurfaceConverter::cylinderComponents(*tgShape, rotation, translation,
+                                               axes, scalor);
+  if (cBounds != nullptr) {
+    m_transform = cTransform;
+    m_bounds = cBounds;
+    m_thickness = cThickness;
+    m_surface = Surface::makeShared<CylinderSurface>(cBounds, *this);
   }
 
   // Check next if you do not have a surface
   if (m_surface == nullptr) {
-    auto discComps = TGeoSurfaceConverter::discComponents(
-        *tgShape, rotation, translation, axes, scalor);
-    auto discBounds = std::get<0>(discComps);
-    if (discBounds != nullptr) {
-      m_bounds = discBounds;
-      m_transform = std::get<1>(discComps);
-      m_thickness = std::get<2>(discComps);
-      m_surface = Surface::makeShared<DiscSurface>(discBounds, *this);
+    auto [dBounds, dTransform, dThickness] =
+        TGeoSurfaceConverter::discComponents(*tgShape, rotation, translation,
+                                             axes, scalor);
+    if (dBounds != nullptr) {
+      m_bounds = dBounds;
+      m_transform = dTransform;
+      m_thickness = dThickness;
+      m_surface = Surface::makeShared<DiscSurface>(dBounds, *this);
     }
   }
 
   // Check next if you do not have a surface
   if (m_surface == nullptr) {
-    auto planeComps = TGeoSurfaceConverter::planeComponents(
-        *tgShape, rotation, translation, axes, scalor);
-    auto planeBounds = std::get<0>(planeComps);
-    if (planeBounds != nullptr) {
-      m_bounds = planeBounds;
-      m_transform = std::get<1>(planeComps);
-      m_thickness = std::get<2>(planeComps);
-      m_surface = Surface::makeShared<PlaneSurface>(planeBounds, *this);
+    auto [pBounds, pTransform, pThickness] =
+        TGeoSurfaceConverter::planeComponents(*tgShape, rotation, translation,
+                                              axes, scalor);
+    if (pBounds != nullptr) {
+      m_bounds = pBounds;
+      m_transform = pTransform;
+      m_thickness = pThickness;
+      m_surface = Surface::makeShared<PlaneSurface>(pBounds, *this);
     }
   }
 
diff --git a/Plugins/TGeo/src/TGeoMaterialConverter.cpp b/Plugins/TGeo/src/TGeoMaterialConverter.cpp
new file mode 100644
index 00000000000..7b162d7314c
--- /dev/null
+++ b/Plugins/TGeo/src/TGeoMaterialConverter.cpp
@@ -0,0 +1,33 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "Acts/Plugins/TGeo/TGeoMaterialConverter.hpp"
+
+#include "Acts/Material/Material.hpp"
+
+#include "TGeoMaterial.h"
+
+Acts::MaterialSlab Acts::TGeoMaterialConverter::materialSlab(
+    const TGeoMaterial& tgMaterial, ActsScalar thicknessIn,
+    ActsScalar thicknessOut, const Options& options) {
+  // Scalable properties
+  ActsScalar matX0 = tgMaterial.GetRadLen();
+  ActsScalar matL0 = tgMaterial.GetIntLen();
+  ActsScalar matRho = tgMaterial.GetDensity();
+
+  // X0, L0, rho scale with the thickness
+  ActsScalar cFactor = thicknessIn / thicknessOut;
+  ActsScalar uScalor = options.unitLengthScalor;
+  ActsScalar rScalar =
+      options.unitMassScalor / pow(options.unitLengthScalor, 3);
+  auto material = Material::fromMassDensity(
+      matX0 * uScalor / cFactor, matL0 * uScalor / cFactor, tgMaterial.GetA(),
+      tgMaterial.GetZ(), matRho * rScalar * cFactor);
+
+  return MaterialSlab(material, thicknessOut);
+}
diff --git a/Plugins/TGeo/src/TGeoSurfaceConverter.cpp b/Plugins/TGeo/src/TGeoSurfaceConverter.cpp
index 572a643c63f..7ae33541356 100644
--- a/Plugins/TGeo/src/TGeoSurfaceConverter.cpp
+++ b/Plugins/TGeo/src/TGeoSurfaceConverter.cpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2020 CERN for the benefit of the Acts project
+// Copyright (C) 2020-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -95,14 +95,17 @@ Acts::TGeoSurfaceConverter::cylinderComponents(const TGeoShape& tgShape,
       if (tubeSeg != nullptr) {
         double phi1 = toRadian(tubeSeg->GetPhi1());
         double phi2 = toRadian(tubeSeg->GetPhi2());
-        if (not boost::starts_with(axes, "X")) {
-          throw std::invalid_argument(
-              "TGeoShape -> CylinderSurface (sectorial): can only be converted "
-              "with "
-              "'(X)(y/Y)(*)' axes.");
+        if (std::abs(phi2 - phi1) < M_PI * (1. - s_epsilon)) {
+          if (not boost::starts_with(axes, "X")) {
+            throw std::invalid_argument(
+                "TGeoShape -> CylinderSurface (sectorial): can only be "
+                "converted "
+                "with "
+                "'(X)(y/Y)(*)' axes.");
+          }
+          halfPhi = 0.5 * (std::max(phi1, phi2) - std::min(phi1, phi2));
+          avgPhi = 0.5 * (phi1 + phi2);
         }
-        halfPhi = 0.5 * (std::max(phi1, phi2) - std::min(phi1, phi2));
-        avgPhi = 0.5 * (phi1 + phi2);
       }
       bounds = std::make_shared<CylinderBounds>(medR, halfZ, halfPhi, avgPhi);
       thickness = deltaR;
@@ -250,14 +253,17 @@ Acts::TGeoSurfaceConverter::discComponents(const TGeoShape& tgShape,
       if (tubeSeg != nullptr) {
         double phi1 = toRadian(tubeSeg->GetPhi1());
         double phi2 = toRadian(tubeSeg->GetPhi2());
-        if (not boost::starts_with(axes, "X")) {
-          throw std::invalid_argument(
-              "TGeoShape -> CylinderSurface (sectorial): can only be converted "
-              "with "
-              "'(X)(y/Y)(*)' axes.");
+        if (std::abs(phi2 - phi1) < 2 * M_PI * (1. - s_epsilon)) {
+          if (not boost::starts_with(axes, "X")) {
+            throw std::invalid_argument(
+                "TGeoShape -> CylinderSurface (sectorial): can only be "
+                "converted "
+                "with "
+                "'(X)(y/Y)(*)' axes.");
+          }
+          halfPhi = 0.5 * (std::max(phi1, phi2) - std::min(phi1, phi2));
+          avgPhi = 0.5 * (phi1 + phi2);
         }
-        halfPhi = 0.5 * (std::max(phi1, phi2) - std::min(phi1, phi2));
-        avgPhi = 0.5 * (phi1 + phi2);
       }
       bounds = std::make_shared<RadialBounds>(minR, maxR, halfPhi, avgPhi);
       thickness = 2 * halfZ;
@@ -346,7 +352,7 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
       double dx2 = (ys < 0) ? trapezoid1->GetDx1() : trapezoid1->GetDx2();
       bounds = std::make_shared<const TrapezoidBounds>(
           scalor * dx1, scalor * dx2, scalor * trapezoid2->GetDy1());
-      thickness = scalor * trapezoid2->GetDz();
+      thickness = 2 * scalor * trapezoid2->GetDz();
     } else if (polygon8 != nullptr) {
       Double_t* tgverts = polygon8->GetVertices();
       std::vector<Vector2> pVertices;
@@ -355,11 +361,11 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
                                     scalor * ys * tgverts[ivtx * 2 + 1]));
       }
       bounds = std::make_shared<ConvexPolygonBounds<4>>(pVertices);
-      thickness = scalor * polygon8->GetDz();
+      thickness = 2 * scalor * polygon8->GetDz();
     } else if (box != nullptr) {
       bounds = std::make_shared<const RectangleBounds>(scalor * box->GetDX(),
                                                        scalor * box->GetDY());
-      thickness = scalor * box->GetDZ();
+      thickness = 2 * scalor * box->GetDZ();
     }
   } else if (boost::istarts_with(axes, "YZ")) {
     cx = xs * ay;
@@ -372,11 +378,11 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
       double dx2 = (ys < 0) ? trapezoid2->GetDy1() : trapezoid2->GetDy2();
       bounds = std::make_shared<const TrapezoidBounds>(
           scalor * dx1, scalor * dx2, scalor * trapezoid2->GetDz());
-      thickness = scalor * trapezoid2->GetDx1();
+      thickness = 2 * scalor * trapezoid2->GetDx1();
     } else if (box != nullptr) {
       bounds = std::make_shared<const RectangleBounds>(scalor * box->GetDY(),
                                                        scalor * box->GetDZ());
-      thickness = scalor * box->GetDX();
+      thickness = 2 * scalor * box->GetDX();
     }
   } else if (boost::istarts_with(axes, "ZX")) {
     cx = xs * az;
@@ -384,7 +390,7 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
     if (box != nullptr) {
       bounds = std::make_shared<const RectangleBounds>(scalor * box->GetDZ(),
                                                        scalor * box->GetDX());
-      thickness = scalor * box->GetDY();
+      thickness = 2 * scalor * box->GetDY();
     }
   } else if (boost::istarts_with(axes, "XZ")) {
     cx = xs * ax;
@@ -394,17 +400,17 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
       double dx2 = (ys < 0) ? trapezoid1->GetDx1() : trapezoid1->GetDx2();
       bounds = std::make_shared<const TrapezoidBounds>(
           scalor * dx1, scalor * dx2, scalor * trapezoid1->GetDz());
-      thickness = scalor * trapezoid1->GetDy();
+      thickness = 2 * scalor * trapezoid1->GetDy();
     } else if (trapezoid2 != nullptr) {
       double dx1 = (ys < 0) ? trapezoid2->GetDx2() : trapezoid2->GetDx1();
       double dx2 = (ys < 0) ? trapezoid2->GetDx1() : trapezoid2->GetDx2();
       bounds = std::make_shared<const TrapezoidBounds>(
           scalor * dx1, scalor * dx2, scalor * trapezoid2->GetDz());
-      thickness = scalor * trapezoid2->GetDy1();
+      thickness = 2 * scalor * trapezoid2->GetDy1();
     } else if (box != nullptr) {
       bounds = std::make_shared<const RectangleBounds>(scalor * box->GetDX(),
                                                        scalor * box->GetDZ());
-      thickness = scalor * box->GetDY();
+      thickness = 2 * scalor * box->GetDY();
     }
   } else if (boost::istarts_with(axes, "YX")) {
     cx = xs * ay;
@@ -414,7 +420,7 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
       double dx2 = (ys < 0) ? trapezoid2->GetDy1() : trapezoid2->GetDy2();
       bounds = std::make_shared<const TrapezoidBounds>(
           scalor * dx1, scalor * dx2, scalor * trapezoid2->GetDx1());
-      thickness = scalor * trapezoid2->GetDz();
+      thickness = 2 * scalor * trapezoid2->GetDz();
     } else if (polygon8 != nullptr) {
       const Double_t* tgverts = polygon8->GetVertices();
       std::vector<Vector2> pVertices;
@@ -423,11 +429,11 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
                                     scalor * ys * tgverts[ivtx * 2]));
       }
       bounds = std::make_shared<ConvexPolygonBounds<4>>(pVertices);
-      thickness = scalor * polygon8->GetDz();
+      thickness = 2 * scalor * polygon8->GetDz();
     } else if (box != nullptr) {
       bounds = std::make_shared<const RectangleBounds>(scalor * box->GetDY(),
                                                        scalor * box->GetDX());
-      thickness = scalor * box->GetDZ();
+      thickness = 2 * scalor * box->GetDZ();
     }
   } else if (boost::istarts_with(axes, "ZY")) {
     cx = xs * az;
@@ -435,7 +441,7 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
     if (box != nullptr) {
       bounds = std::make_shared<const RectangleBounds>(scalor * box->GetDZ(),
                                                        scalor * box->GetDY());
-      thickness = scalor * box->GetDX();
+      thickness = 2 * scalor * box->GetDX();
     }
   } else {
     throw std::invalid_argument(
@@ -450,35 +456,33 @@ Acts::TGeoSurfaceConverter::planeComponents(const TGeoShape& tgShape,
   return {bounds, transform, thickness};
 }
 
-std::shared_ptr<Acts::Surface> Acts::TGeoSurfaceConverter::toSurface(
-    const TGeoShape& tgShape, const TGeoMatrix& tgMatrix,
-    const std::string& axes, double scalor) noexcept(false) {
+std::tuple<std::shared_ptr<Acts::Surface>, Acts::ActsScalar>
+Acts::TGeoSurfaceConverter::toSurface(const TGeoShape& tgShape,
+                                      const TGeoMatrix& tgMatrix,
+                                      const std::string& axes,
+                                      double scalor) noexcept(false) {
   // Get the placement and orientation in respect to its mother
   const Double_t* rotation = tgMatrix.GetRotationMatrix();
   const Double_t* translation = tgMatrix.GetTranslation();
 
-  auto cylinderComps =
+  auto [cBounds, cTransform, cThickness] =
       cylinderComponents(tgShape, rotation, translation, axes, scalor);
-  auto cylinderBounds = std::get<0>(cylinderComps);
-  if (cylinderBounds != nullptr) {
-    auto cylinderTrf = std::get<1>(cylinderComps);
-    return Surface::makeShared<CylinderSurface>(cylinderTrf, cylinderBounds);
+  if (cBounds != nullptr) {
+    return {Surface::makeShared<CylinderSurface>(cTransform, cBounds),
+            cThickness};
   }
 
-  auto discComps = discComponents(tgShape, rotation, translation, axes, scalor);
-  auto discBounds = std::get<0>(discComps);
-  if (discBounds != nullptr) {
-    auto discTrf = std::get<1>(discComps);
-    return Surface::makeShared<DiscSurface>(discTrf, discBounds);
+  auto [dBounds, dTransform, dThickness] =
+      discComponents(tgShape, rotation, translation, axes, scalor);
+  if (dBounds != nullptr) {
+    return {Surface::makeShared<DiscSurface>(dTransform, dBounds), dThickness};
   }
 
-  auto planeComps =
+  auto [pBounds, pTransform, pThickness] =
       planeComponents(tgShape, rotation, translation, axes, scalor);
-  auto planeBounds = std::get<0>(planeComps);
-  if (planeBounds != nullptr) {
-    auto planeTrf = std::get<1>(planeComps);
-    return Surface::makeShared<PlaneSurface>(planeTrf, planeBounds);
+  if (pBounds != nullptr) {
+    return {Surface::makeShared<PlaneSurface>(pTransform, pBounds), pThickness};
   }
 
-  return nullptr;
+  return {nullptr, 0.};
 }
diff --git a/Tests/UnitTests/Plugins/TGeo/CMakeLists.txt b/Tests/UnitTests/Plugins/TGeo/CMakeLists.txt
index d3df575b68c..dff88398c8a 100644
--- a/Tests/UnitTests/Plugins/TGeo/CMakeLists.txt
+++ b/Tests/UnitTests/Plugins/TGeo/CMakeLists.txt
@@ -6,5 +6,8 @@ add_unittest(TGeoTrd1Conversion TGeoTrd1ConversionTests.cpp)
 add_unittest(TGeoTrd2Conversion TGeoTrd2ConversionTests.cpp)
 add_unittest(TGeoTubeConversion TGeoTubeConversionTests.cpp)
 add_unittest(TGeoLayerBuilder TGeoLayerBuilderTests.cpp)
+if (${ROOT_VERSION} VERSION_GREATER "6.25.01")
+    add_unittest(TGeoMaterialConverter TGeoMaterialConverterTests.cpp)
+endif()
 add_unittest(TGeoParser TGeoParserTests.cpp)
 add_unittest(TGeoPrimitivesHelper TGeoPrimitivesHelperTests.cpp)
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoArb8ConversionTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoArb8ConversionTests.cpp
index 75ddb5e1019..e8aa954643f 100644
--- a/Tests/UnitTests/Plugins/TGeo/TGeoArb8ConversionTests.cpp
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoArb8ConversionTests.cpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2020 CERN for the benefit of the Acts project
+// Copyright (C) 2020-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -57,7 +57,11 @@ BOOST_AUTO_TEST_CASE(TGeoArb8_to_PlaneSurface) {
   TGeoMedium *med = new TGeoMedium("MED", 1, mat);
   TGeoVolume *top = gGeoManager->MakeBox("TOP", med, 100, 100, 100);
   gGeoManager->SetTopVolume(top);
-  TGeoArb8 *arb = new TGeoArb8(1);
+  // The one parameter at construction is dZ, when the
+  // TGeoArb8 is spanning from -dZ to +dZ:
+  // - hence, the thickness is 2 * dZ
+  ActsScalar dZ = 1.;
+  TGeoArb8 *arb = new TGeoArb8(dZ);
   arb->SetVertex(0, -30, -25);
   arb->SetVertex(1, -25, 25);
   arb->SetVertex(2, 5, 25);
@@ -76,10 +80,11 @@ BOOST_AUTO_TEST_CASE(TGeoArb8_to_PlaneSurface) {
 
   size_t iarb8 = 0;
   for (const auto &axes : allowedAxes) {
-    auto plane = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                 *gGeoIdentity, axes, 1);
+    auto [plane, thickness] = TGeoSurfaceConverter::toSurface(
+        *vol->GetShape(), *gGeoIdentity, axes, 1);
     BOOST_CHECK_NE(plane, nullptr);
     BOOST_CHECK_EQUAL(plane->type(), Surface::Plane);
+    BOOST_CHECK_EQUAL(thickness, dZ * 2.);
 
     auto bounds =
         dynamic_cast<const ConvexPolygonBounds<4> *>(&(plane->bounds()));
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoBBoxConversionTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoBBoxConversionTests.cpp
index 0734ac21f64..745edf7a105 100644
--- a/Tests/UnitTests/Plugins/TGeo/TGeoBBoxConversionTests.cpp
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoBBoxConversionTests.cpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2020 CERN for the benefit of the Acts project
+// Copyright (C) 2020-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -53,25 +53,27 @@ ViewConfig blue({0, 0, 200});
 BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
   ObjVisualization3D objVis;
 
-  double x = 10.;
-  double y = 30.;
-  double z = 1.;
+  // BBox is defined [-dX,dX] x [-dY,dY] x [-dZ,dZ]
+  double dX = 10.;
+  double dY = 30.;
+  double dZ = 1.;
 
   new TGeoManager("box", "poza1");
   TGeoMaterial *mat = new TGeoMaterial("Al", 26.98, 13, 2.7);
   TGeoMedium *med = new TGeoMedium("MED", 1, mat);
   TGeoVolume *top = gGeoManager->MakeBox("TOP", med, 100, 100, 100);
   gGeoManager->SetTopVolume(top);
-  TGeoVolume *vol = gGeoManager->MakeBox("BOX", med, x, y, z);
+  TGeoVolume *vol = gGeoManager->MakeBox("BOX", med, dX, dY, dZ);
   vol->SetLineWidth(2);
   top->AddNode(vol, 1);
   gGeoManager->CloseGeometry();
 
   // Upper case ---------------------------------
-  auto plane_XYZ = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                   *gGeoIdentity, "XY*", 1);
+  auto [plane_XYZ, thickness_XYZ] = TGeoSurfaceConverter::toSurface(
+      *vol->GetShape(), *gGeoIdentity, "XY*", 1);
   BOOST_CHECK_NE(plane_XYZ, nullptr);
   BOOST_CHECK_EQUAL(plane_XYZ->type(), Surface::Plane);
+  CHECK_CLOSE_ABS(thickness_XYZ, 2 * dZ, s_epsilon);
 
   auto bounds_XYZ =
       dynamic_cast<const RectangleBounds *>(&(plane_XYZ->bounds()));
@@ -80,15 +82,15 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
   double minX = bounds_XYZ->get(RectangleBounds::eMinX);
   double maxY = bounds_XYZ->get(RectangleBounds::eMaxY);
   double minY = bounds_XYZ->get(RectangleBounds::eMinY);
-  CHECK_CLOSE_ABS(maxX - minX, 2 * x, s_epsilon);
-  CHECK_CLOSE_ABS(maxY - minY, 2 * y, s_epsilon);
+  CHECK_CLOSE_ABS(maxX - minX, 2 * dX, s_epsilon);
+  CHECK_CLOSE_ABS(maxY - minY, 2 * dY, s_epsilon);
 
   // Check if the surface is the (negative) identity
   auto transform_XYZ = plane_XYZ->transform(tgContext);
   auto rotation_XYZ = transform_XYZ.rotation();
   BOOST_CHECK(transform_XYZ.isApprox(Transform3::Identity()));
 
-  const Vector3 offset_XYZ{-5.5 * x, 0., 0.};
+  const Vector3 offset_XYZ{-5.5 * dX, 0., 0.};
   GeometryView3D::drawSurface(objVis, *plane_XYZ, tgContext,
                               Transform3(Translation3{offset_XYZ}));
   const Vector3 center_XYZ = plane_XYZ->center(tgContext) + offset_XYZ;
@@ -102,10 +104,11 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
       objVis, center_XYZ, center_XYZ + 2 * rotation_XYZ.col(2), 4., 2.5, blue);
 
   // Lower case ---------------------------------
-  auto plane_xyz = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                   *gGeoIdentity, "xy*", 1);
+  auto [plane_xyz, thickness_xyz] = TGeoSurfaceConverter::toSurface(
+      *vol->GetShape(), *gGeoIdentity, "xy*", 1);
   BOOST_CHECK_NE(plane_xyz, nullptr);
   BOOST_CHECK_EQUAL(plane_xyz->type(), Surface::Plane);
+  CHECK_CLOSE_ABS(thickness_xyz, 2 * dZ, s_epsilon);
 
   auto bounds_xyz =
       dynamic_cast<const RectangleBounds *>(&(plane_XYZ->bounds()));
@@ -117,7 +120,7 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
   BOOST_CHECK(rotation_xyz.col(1).isApprox(-1 * rotation_XYZ.col(1)));
   BOOST_CHECK(rotation_xyz.col(2).isApprox(rotation_XYZ.col(2)));
 
-  const Vector3 offset_xyz{-2 * x, 0., 0.};
+  const Vector3 offset_xyz{-2 * dX, 0., 0.};
   GeometryView3D::drawSurface(objVis, *plane_xyz, tgContext,
                               Transform3(Translation3{offset_xyz}));
   const Vector3 center_xyz = plane_xyz->center(tgContext) + offset_xyz;
@@ -131,10 +134,11 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
       objVis, center_xyz, center_xyz + 2 * rotation_xyz.col(2), 4., 2.5, blue);
 
   // Mixed case ---------------------------------
-  auto plane_xYz = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                   *gGeoIdentity, "xY*", 1);
+  auto [plane_xYz, thickness_xYz] = TGeoSurfaceConverter::toSurface(
+      *vol->GetShape(), *gGeoIdentity, "xY*", 1);
   BOOST_CHECK_NE(plane_xYz, nullptr);
   BOOST_CHECK_EQUAL(plane_xYz->type(), Surface::Plane);
+  CHECK_CLOSE_ABS(thickness_xYz, 2 * dZ, s_epsilon);
 
   auto bounds_xYz =
       dynamic_cast<const RectangleBounds *>(&(plane_xYz->bounds()));
@@ -146,7 +150,7 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
   BOOST_CHECK(rotation_xYz.col(1).isApprox(rotation_XYZ.col(1)));
   BOOST_CHECK(rotation_xYz.col(2).isApprox(-1. * rotation_XYZ.col(2)));
 
-  const Vector3 offset_xYz{2 * x, 0., 0.};
+  const Vector3 offset_xYz{2 * dX, 0., 0.};
   GeometryView3D::drawSurface(
       objVis, *plane_xYz, tgContext,
       Translation3{offset_xYz} * Transform3::Identity());
@@ -161,18 +165,20 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
       objVis, center_xYz, center_xYz + 2 * rotation_xYz.col(2), 4., 2.5, blue);
 
   // Swap case --------------------------------- (x/y) here
-  auto plane_YXz = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                   *gGeoIdentity, "YX*", 1);
+  auto [plane_YXz, thickness_YXz] = TGeoSurfaceConverter::toSurface(
+      *vol->GetShape(), *gGeoIdentity, "YX*", 1);
   BOOST_CHECK_NE(plane_YXz, nullptr);
   BOOST_CHECK_EQUAL(plane_YXz->type(), Surface::Plane);
+  CHECK_CLOSE_ABS(thickness_YXz, 2 * dZ, s_epsilon);
+
   auto bounds_YXz =
       dynamic_cast<const RectangleBounds *>(&(plane_YXz->bounds()));
   maxX = bounds_YXz->get(RectangleBounds::eMaxX);
   minX = bounds_YXz->get(RectangleBounds::eMinX);
   maxY = bounds_YXz->get(RectangleBounds::eMaxY);
   minY = bounds_YXz->get(RectangleBounds::eMinY);
-  CHECK_CLOSE_ABS(maxX - minX, 2 * y, s_epsilon);
-  CHECK_CLOSE_ABS(maxY - minY, 2 * x, s_epsilon);
+  CHECK_CLOSE_ABS(maxX - minX, 2 * dY, s_epsilon);
+  CHECK_CLOSE_ABS(maxY - minY, 2 * dX, s_epsilon);
 
   auto transform_YXz = plane_YXz->transform(tgContext);
   auto rotation_YXz = transform_YXz.rotation();
@@ -180,7 +186,7 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
   BOOST_CHECK(rotation_YXz.col(1).isApprox(rotation_XYZ.col(0)));
   BOOST_CHECK(rotation_YXz.col(2).isApprox(-1. * rotation_XYZ.col(2)));
 
-  const Vector3 offset_YXz{5.5 * x, 0., 0.};
+  const Vector3 offset_YXz{5.5 * dX, 0., 0.};
   GeometryView3D::drawSurface(objVis, *plane_YXz, tgContext,
                               Transform3(Translation3{offset_YXz}));
   const Vector3 center_YXz = plane_YXz->center(tgContext) + offset_YXz;
@@ -194,9 +200,10 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
       objVis, center_YXz, center_YXz + 2 * rotation_YXz.col(2), 4., 2.5, blue);
 
   // Scaling test ---------------------------------
-  auto plane_XYZ10 = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                     *gGeoIdentity, "xY*", 10);
+  auto [plane_XYZ10, thickness_XYZ10] = TGeoSurfaceConverter::toSurface(
+      *vol->GetShape(), *gGeoIdentity, "xY*", 10);
   BOOST_CHECK_NE(plane_XYZ10, nullptr);
+  CHECK_CLOSE_ABS(thickness_XYZ10, 20 * dZ, s_epsilon);
 
   auto bounds_XYZ10 =
       dynamic_cast<const RectangleBounds *>(&(plane_XYZ10->bounds()));
@@ -204,8 +211,8 @@ BOOST_AUTO_TEST_CASE(TGeoBBox_to_PlaneSurface) {
   double minX10 = bounds_XYZ10->get(RectangleBounds::eMinX);
   double maxY10 = bounds_XYZ10->get(RectangleBounds::eMaxY);
   double minY10 = bounds_XYZ10->get(RectangleBounds::eMinY);
-  CHECK_CLOSE_ABS(maxX10 - minX10, 20 * x, s_epsilon);
-  CHECK_CLOSE_ABS(maxY10 - minY10, 20 * y, s_epsilon);
+  CHECK_CLOSE_ABS(maxX10 - minX10, 20 * dX, s_epsilon);
+  CHECK_CLOSE_ABS(maxY10 - minY10, 20 * dY, s_epsilon);
 
   objVis.write("TGeoConversion_TGeoBBox_PlaneSurface");
 }
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoMaterialConverterTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoMaterialConverterTests.cpp
new file mode 100644
index 00000000000..1231ff493dc
--- /dev/null
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoMaterialConverterTests.cpp
@@ -0,0 +1,82 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include <boost/test/data/test_case.hpp>
+#include <boost/test/unit_test.hpp>
+
+#include "Acts/Definitions/Units.hpp"
+#include "Acts/Plugins/TGeo/TGeoMaterialConverter.hpp"
+#include "Acts/Tests/CommonHelpers/FloatComparisons.hpp"
+
+#include <string>
+#include <vector>
+
+#include "TGeoManager.h"
+#include "TGeoMaterial.h"
+
+namespace Acts {
+
+using namespace UnitLiterals;
+
+namespace Test {
+
+BOOST_AUTO_TEST_CASE(TGeoMaterialConverter_materialSlab) {
+  new TGeoManager("gm", "garbage collector");
+
+  ActsScalar A = 26.98;
+  ActsScalar Z = 13.;
+  TGeoMaterial *mat = new TGeoMaterial("Al", A, Z, 2.7);
+
+  // ROOT calculates the radiation/int length in cm
+  // That's actually depending on the ROOT version
+  CHECK_CLOSE_ABS(mat->GetRadLen(), 8.85, 0.1_mm);
+  CHECK_CLOSE_ABS(mat->GetIntLen(), 38.8, 0.1_mm);
+
+  Acts::TGeoMaterialConverter::Options options;
+  options.unitLengthScalor = 1_cm;
+  options.unitMassScalor = 1.;
+
+  // Assume we describe a 10 mm thick box as a 10 mm thick slab
+  ActsScalar tInX0 = 10_mm / (mat->GetRadLen() * options.unitLengthScalor);
+  ActsScalar tInL0 = 10_mm / (mat->GetIntLen() * options.unitLengthScalor);
+  ActsScalar rho =
+      2.7 * options.unitMassScalor / pow(options.unitLengthScalor, 3);
+
+  Acts::MaterialSlab slab_10_10 =
+      Acts::TGeoMaterialConverter::materialSlab(*mat, 10_mm, 10_mm, options);
+  CHECK_CLOSE_ABS(88.7_mm, slab_10_10.material().X0(), 0.1_mm);
+  CHECK_CLOSE_ABS(388_mm, slab_10_10.material().L0(), 1_mm);
+  CHECK_CLOSE_ABS(A, slab_10_10.material().Ar(), 1e-5);
+  CHECK_CLOSE_ABS(Z, slab_10_10.material().Z(), 1e-5);
+  CHECK_CLOSE_ABS(tInX0, slab_10_10.thicknessInX0(), 1e-5);
+  CHECK_CLOSE_ABS(tInL0, slab_10_10.thicknessInL0(), 1e-5);
+  CHECK_CLOSE_ABS(rho, slab_10_10.material().massDensity(), 1e-5);
+
+  // Assume we describe a 10 mm thick box as a 1 mm thick slab
+  Acts::MaterialSlab slab_10_1 =
+      Acts::TGeoMaterialConverter::materialSlab(*mat, 10_mm, 1_mm, options);
+  // Radiation/interaction lengths are divided by 10
+  CHECK_CLOSE_ABS(8.87_mm, slab_10_1.material().X0(), 0.1_mm);
+  CHECK_CLOSE_ABS(38.8_mm, slab_10_1.material().L0(), 1_mm);
+  // Density is scaled up by 10
+  CHECK_CLOSE_ABS(10 * rho, slab_10_1.material().massDensity(), 1e-5);
+  // A and Z remain unchanged
+  CHECK_CLOSE_ABS(A, slab_10_1.material().Ar(), 1e-5);
+  CHECK_CLOSE_ABS(Z, slab_10_1.material().Z(), 1e-5);
+
+  // Thickness in X0/L0 is unchanged -> same scattering
+  CHECK_CLOSE_ABS(tInX0, slab_10_1.thicknessInX0(), 1e-5);
+  CHECK_CLOSE_ABS(tInL0, slab_10_1.thicknessInL0(), 1e-5);
+  // Thickness * rho is unchanged -> same energy loss
+  CHECK_CLOSE_ABS(slab_10_10.material().massDensity() * slab_10_10.thickness(),
+                  slab_10_1.material().massDensity() * slab_10_1.thickness(),
+                  1e-5);
+}
+
+}  // namespace Test
+}  // namespace Acts
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoParserTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoParserTests.cpp
index 204b856381b..043de958851 100644
--- a/Tests/UnitTests/Plugins/TGeo/TGeoParserTests.cpp
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoParserTests.cpp
@@ -65,7 +65,7 @@ BOOST_AUTO_TEST_CASE(TGeoParser_Pixel) {
     for (auto& snode : tgpState.selectedNodes) {
       const auto& shape = *(snode.node->GetVolume()->GetShape());
       const auto& transform = *(snode.transform.get());
-      auto surface =
+      auto [surface, thickness] =
           TGeoSurfaceConverter::toSurface(shape, transform, axes, scale);
       GeometryView3D::drawSurface(objVis, *surface, tgContext);
     }
@@ -101,8 +101,8 @@ BOOST_AUTO_TEST_CASE(TGeoParser_Pixel_SelectInnermost) {
     for (auto& snode : tgpState.selectedNodes) {
       const auto& shape = *(snode.node->GetVolume()->GetShape());
       const auto& transform = *(snode.transform.get());
-      auto surface = TGeoSurfaceConverter::toSurface(shape, transform, axes,
-                                                     tgpOptions.unit);
+      auto [surface, thickness] = TGeoSurfaceConverter::toSurface(
+          shape, transform, axes, tgpOptions.unit);
       GeometryView3D::drawSurface(objVis, *surface, tgContext);
     }
     objVis.write("PixelActive_Innermost");
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoTrd1ConversionTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoTrd1ConversionTests.cpp
index 5c3362c10b8..051dad056b4 100644
--- a/Tests/UnitTests/Plugins/TGeo/TGeoTrd1ConversionTests.cpp
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoTrd1ConversionTests.cpp
@@ -1,6 +1,6 @@
 // This file is part of the Acts project.
 //
-// Copyright (C) 2020 CERN for the benefit of the Acts project
+// Copyright (C) 2020-2023 CERN for the benefit of the Acts project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -58,7 +58,7 @@ BOOST_AUTO_TEST_CASE(TGeoTrd1_to_PlaneSurface) {
 
   double hxmin = 10.;
   double hxmax = 30.;
-  double t = 1.;
+  double ht = 1.;  // half thickness
   double hy = 40.;
 
   new TGeoManager("trd1", "poza9");
@@ -66,7 +66,7 @@ BOOST_AUTO_TEST_CASE(TGeoTrd1_to_PlaneSurface) {
   TGeoMedium *med = new TGeoMedium("MED", 1, mat);
   TGeoVolume *top = gGeoManager->MakeBox("TOP", med, 100, 100, 100);
   gGeoManager->SetTopVolume(top);
-  TGeoVolume *vol = gGeoManager->MakeTrd1("Trd1", med, hxmin, hxmax, t, hy);
+  TGeoVolume *vol = gGeoManager->MakeTrd1("Trd1", med, hxmin, hxmax, ht, hy);
   gGeoManager->CloseGeometry();
 
   // Check the 4 possible ways
@@ -74,10 +74,11 @@ BOOST_AUTO_TEST_CASE(TGeoTrd1_to_PlaneSurface) {
 
   size_t itrd = 0;
   for (const auto &axes : allowedAxes) {
-    auto plane = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                 *gGeoIdentity, axes, 1);
+    auto [plane, thickness] = TGeoSurfaceConverter::toSurface(
+        *vol->GetShape(), *gGeoIdentity, axes, 1);
     BOOST_CHECK_NE(plane, nullptr);
     BOOST_CHECK_EQUAL(plane->type(), Surface::Plane);
+    CHECK_CLOSE_ABS(thickness, 2 * ht, s_epsilon);
 
     auto bounds = dynamic_cast<const TrapezoidBounds *>(&(plane->bounds()));
     BOOST_CHECK_NE(bounds, nullptr);
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoTrd2ConversionTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoTrd2ConversionTests.cpp
index 65502a7f21f..cfbd77177d8 100644
--- a/Tests/UnitTests/Plugins/TGeo/TGeoTrd2ConversionTests.cpp
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoTrd2ConversionTests.cpp
@@ -58,7 +58,7 @@ BOOST_AUTO_TEST_CASE(TGeoTrd2_xz_to_PlaneSurface) {
 
   double hxmin = 10.;
   double hxmax = 30.;
-  double t = 1.;
+  double ht = 1.;  // this is the half thickness
   double hy = 40.;
 
   new TGeoManager("trd1", "poza9");
@@ -66,7 +66,8 @@ BOOST_AUTO_TEST_CASE(TGeoTrd2_xz_to_PlaneSurface) {
   TGeoMedium *med = new TGeoMedium("MED", 1, mat);
   TGeoVolume *top = gGeoManager->MakeBox("TOP", med, 100, 100, 100);
   gGeoManager->SetTopVolume(top);
-  TGeoVolume *vol = gGeoManager->MakeTrd2("Trd2", med, hxmin, hxmax, t, t, hy);
+  TGeoVolume *vol =
+      gGeoManager->MakeTrd2("Trd2", med, hxmin, hxmax, ht, ht, hy);
   gGeoManager->CloseGeometry();
 
   // Check the 4 possible ways
@@ -74,10 +75,11 @@ BOOST_AUTO_TEST_CASE(TGeoTrd2_xz_to_PlaneSurface) {
 
   size_t itrd = 0;
   for (const auto &axes : axesTypes) {
-    auto plane = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                 *gGeoIdentity, axes, 1);
+    auto [plane, thickness] = TGeoSurfaceConverter::toSurface(
+        *vol->GetShape(), *gGeoIdentity, axes, 1);
     BOOST_CHECK_NE(plane, nullptr);
     BOOST_CHECK_EQUAL(plane->type(), Surface::Plane);
+    CHECK_CLOSE_ABS(thickness, 2 * ht, s_epsilon);
 
     auto bounds = dynamic_cast<const TrapezoidBounds *>(&(plane->bounds()));
     BOOST_CHECK_NE(bounds, nullptr);
@@ -123,7 +125,7 @@ BOOST_AUTO_TEST_CASE(TGeoTrd2_yz_to_PlaneSurface) {
 
   double hxmin = 10.;
   double hxmax = 30.;
-  double t = 1.;
+  double ht = 1.;  // this is the half thickness
   double hy = 40.;
 
   new TGeoManager("trd1", "poza9");
@@ -131,7 +133,8 @@ BOOST_AUTO_TEST_CASE(TGeoTrd2_yz_to_PlaneSurface) {
   TGeoMedium *med = new TGeoMedium("MED", 1, mat);
   TGeoVolume *top = gGeoManager->MakeBox("TOP", med, 100, 100, 100);
   gGeoManager->SetTopVolume(top);
-  TGeoVolume *vol = gGeoManager->MakeTrd2("Trd2", med, t, t, hxmin, hxmax, hy);
+  TGeoVolume *vol =
+      gGeoManager->MakeTrd2("Trd2", med, ht, ht, hxmin, hxmax, hy);
   gGeoManager->CloseGeometry();
 
   // Check the 4 possible ways
@@ -139,10 +142,11 @@ BOOST_AUTO_TEST_CASE(TGeoTrd2_yz_to_PlaneSurface) {
 
   size_t itrd = 0;
   for (const auto &axes : axesTypes) {
-    auto plane = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                 *gGeoIdentity, axes, 1);
+    auto [plane, thickness] = TGeoSurfaceConverter::toSurface(
+        *vol->GetShape(), *gGeoIdentity, axes, 1);
     BOOST_CHECK_NE(plane, nullptr);
     BOOST_CHECK_EQUAL(plane->type(), Surface::Plane);
+    CHECK_CLOSE_ABS(thickness, 2 * ht, s_epsilon);
 
     auto bounds = dynamic_cast<const TrapezoidBounds *>(&(plane->bounds()));
     BOOST_CHECK_NE(bounds, nullptr);
diff --git a/Tests/UnitTests/Plugins/TGeo/TGeoTubeConversionTests.cpp b/Tests/UnitTests/Plugins/TGeo/TGeoTubeConversionTests.cpp
index 5736eb3c2e4..8cb6c52522d 100644
--- a/Tests/UnitTests/Plugins/TGeo/TGeoTubeConversionTests.cpp
+++ b/Tests/UnitTests/Plugins/TGeo/TGeoTubeConversionTests.cpp
@@ -76,10 +76,11 @@ BOOST_AUTO_TEST_CASE(TGeoTube_to_CylinderSurface) {
 
   size_t icyl = 0;
   for (const auto &axes : allowedAxes) {
-    auto cylinder = TGeoSurfaceConverter::toSurface(*vol->GetShape(),
-                                                    *gGeoIdentity, axes, 1);
+    auto [cylinder, thickness] = TGeoSurfaceConverter::toSurface(
+        *vol->GetShape(), *gGeoIdentity, axes, 1);
     BOOST_CHECK_NE(cylinder, nullptr);
     BOOST_CHECK_EQUAL(cylinder->type(), Surface::Cylinder);
+    CHECK_CLOSE_ABS(thickness, rmax - rmin, s_epsilon);
 
     auto bounds = dynamic_cast<const CylinderBounds *>(&(cylinder->bounds()));
     BOOST_CHECK_NE(bounds, nullptr);
@@ -107,10 +108,11 @@ BOOST_AUTO_TEST_CASE(TGeoTube_to_CylinderSurface) {
     objVis.clear();
 
     if (icyl < 2) {
-      auto cylinderSegment = TGeoSurfaceConverter::toSurface(
+      auto [cylinderSegment, cThickness] = TGeoSurfaceConverter::toSurface(
           *vols->GetShape(), *gGeoIdentity, axes, 1);
       BOOST_CHECK_NE(cylinderSegment, nullptr);
       BOOST_CHECK_EQUAL(cylinderSegment->type(), Surface::Cylinder);
+      CHECK_CLOSE_ABS(cThickness, rmax - rmin, s_epsilon);
 
       auto boundsSegment =
           dynamic_cast<const CylinderBounds *>(&(cylinderSegment->bounds()));
@@ -174,10 +176,11 @@ BOOST_AUTO_TEST_CASE(TGeoTube_to_DiscSurface) {
 
   size_t idisc = 0;
   for (const auto &axes : allowedAxes) {
-    auto disc = TGeoSurfaceConverter::toSurface(*vol->GetShape(), *gGeoIdentity,
-                                                axes, 1);
+    auto [disc, thickness] = TGeoSurfaceConverter::toSurface(
+        *vol->GetShape(), *gGeoIdentity, axes, 1);
     BOOST_CHECK_NE(disc, nullptr);
     BOOST_CHECK_EQUAL(disc->type(), Surface::Disc);
+    CHECK_CLOSE_ABS(thickness, 2 * hz, s_epsilon);
 
     auto bounds = dynamic_cast<const RadialBounds *>(&(disc->bounds()));
     BOOST_CHECK_NE(bounds, nullptr);
@@ -201,10 +204,11 @@ BOOST_AUTO_TEST_CASE(TGeoTube_to_DiscSurface) {
     objVis.clear();
 
     if (idisc < 2) {
-      auto discSegment = TGeoSurfaceConverter::toSurface(
+      auto [discSegment, dThickness] = TGeoSurfaceConverter::toSurface(
           *vols->GetShape(), *gGeoIdentity, axes, 1);
       BOOST_CHECK_NE(discSegment, nullptr);
       BOOST_CHECK_EQUAL(discSegment->type(), Surface::Disc);
+      CHECK_CLOSE_ABS(dThickness, 2 * hz, s_epsilon);
 
       auto boundsSegment =
           dynamic_cast<const RadialBounds *>(&(discSegment->bounds()));

From fa0a8d4303bc4252920c59631a66179e30380e7d Mon Sep 17 00:00:00 2001
From: Andreas Salzburger <asalzburger@gmail.com>
Date: Tue, 3 Oct 2023 10:03:30 +0200
Subject: [PATCH 13/20] chore: move nested Support to ProtoSupport (#2497)

This PR is part 2 of the odd + detector series:
- it promotes the `LayerStructure::Support` to `ProtoSupport`, just as
done with the `ProtoBinning`.

It sits on top of #2496 and is thus marked blocked.
---
 .../Acts/Detector/LayerStructureBuilder.hpp   | 17 +-------
 Core/include/Acts/Detector/ProtoSupport.hpp   | 43 +++++++++++++++++++
 Core/src/Detector/LayerStructureBuilder.cpp   | 22 ++++++++--
 Plugins/TGeo/src/TGeoMaterialConverter.cpp    |  1 +
 .../Detector/LayerStructureBuilderTests.cpp   |  4 +-
 5 files changed, 66 insertions(+), 21 deletions(-)
 create mode 100644 Core/include/Acts/Detector/ProtoSupport.hpp

diff --git a/Core/include/Acts/Detector/LayerStructureBuilder.hpp b/Core/include/Acts/Detector/LayerStructureBuilder.hpp
index a91fc372e79..c4ac141b7df 100644
--- a/Core/include/Acts/Detector/LayerStructureBuilder.hpp
+++ b/Core/include/Acts/Detector/LayerStructureBuilder.hpp
@@ -11,6 +11,7 @@
 #include "Acts/Definitions/Algebra.hpp"
 #include "Acts/Detector/DetectorComponents.hpp"
 #include "Acts/Detector/ProtoBinning.hpp"
+#include "Acts/Detector/ProtoSupport.hpp"
 #include "Acts/Detector/interface/IInternalStructureBuilder.hpp"
 #include "Acts/Detector/interface/ISurfacesProvider.hpp"
 #include "Acts/Geometry/GeometryContext.hpp"
@@ -72,20 +73,6 @@ class LayerStructureBuilder : public IInternalStructureBuilder {
     std::vector<std::shared_ptr<Surface>> m_surfaces = {};
   };
 
-  /// @brief Support parameter definitions
-  struct Support {
-    /// Define whether you want to build support structures
-    std::array<ActsScalar, 5u> values = {};
-    /// The surface type to be built
-    Surface::SurfaceType type = Surface::SurfaceType::Other;
-    /// Define in which values the support should be constrained
-    std::vector<BinningValue> constraints = s_binningValues;
-    /// Potential splits into planar approximations
-    unsigned int splits = 1u;
-    /// The (optional) layer transform
-    std::optional<Transform3> transform = std::nullopt;
-  };
-
   /// @brief Configuration struct for the LayerStructureBuilder
   ///
   /// It contain:
@@ -96,7 +83,7 @@ class LayerStructureBuilder : public IInternalStructureBuilder {
     /// Connection point for a function to provide surfaces
     std::shared_ptr<ISurfacesProvider> surfacesProvider = nullptr;
     /// Definition of Supports
-    std::vector<Support> supports = {};
+    std::vector<ProtoSupport> supports = {};
     /// Definition of Binnings
     std::vector<ProtoBinning> binnings = {};
     /// Polyhedron approximations
diff --git a/Core/include/Acts/Detector/ProtoSupport.hpp b/Core/include/Acts/Detector/ProtoSupport.hpp
new file mode 100644
index 00000000000..e705f0aab24
--- /dev/null
+++ b/Core/include/Acts/Detector/ProtoSupport.hpp
@@ -0,0 +1,43 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include "Acts/Definitions/Algebra.hpp"
+#include "Acts/Definitions/Common.hpp"
+#include "Acts/Surfaces/Surface.hpp"
+#include "Acts/Utilities/BinningData.hpp"
+#include "Acts/Utilities/detail/AxisFwd.hpp"
+
+#include <optional>
+#include <stdexcept>
+#include <vector>
+
+namespace Acts {
+
+namespace Experimental {
+/// @brief Support parameter definitions
+struct ProtoSupport {
+  /// Define whether you want to build support structures
+  std::array<ActsScalar, 5u> values = {};
+  /// The surface type to be built
+  Surface::SurfaceType type = Surface::SurfaceType::Other;
+  /// Define in which values the support should be constrained
+  std::vector<BinningValue> constraints = s_binningValues;
+  /// Potential splits into planar approximations
+  unsigned int splits = 1u;
+  /// The (optional) layer transform
+  std::optional<Transform3> transform = std::nullopt;
+  /// Alternatively - the support surface can already be provided
+  std::shared_ptr<Surface> surface = nullptr;
+  /// Indicate if the support surface should always be addressed in navigation
+  bool assignToAll = false;
+};
+
+}  // namespace Experimental
+}  // namespace Acts
diff --git a/Core/src/Detector/LayerStructureBuilder.cpp b/Core/src/Detector/LayerStructureBuilder.cpp
index bdd19929bf4..0cd30f9ae20 100644
--- a/Core/src/Detector/LayerStructureBuilder.cpp
+++ b/Core/src/Detector/LayerStructureBuilder.cpp
@@ -167,7 +167,8 @@ Acts::Experimental::LayerStructureBuilder::construct(
   }
 
   // Retrieve the layer surfaces
-  SurfaceCandidatesUpdator internalCandidatesUpdator;
+  SurfaceCandidatesUpdator internalCandidatesUpdator =
+      tryAllPortalsAndSurfaces();
   auto internalSurfaces = m_cfg.surfacesProvider->surfaces(gctx);
   ACTS_DEBUG("Building internal layer structure from "
              << internalSurfaces.size() << " provided surfaces.");
@@ -179,6 +180,17 @@ Acts::Experimental::LayerStructureBuilder::construct(
     ACTS_DEBUG("Adding " << m_cfg.supports.size() << " support structures.")
     // The surface candidate updator
     for (const auto& support : m_cfg.supports) {
+      // Check if the supportsurface has already been built
+      if (support.surface != nullptr) {
+        ACTS_VERBOSE("- Use provided support surface directly.");
+        if (support.assignToAll) {
+          assignToAll.push_back(internalSurfaces.size());
+          ACTS_VERBOSE("  Support surface is assigned to all bins.");
+        }
+        internalSurfaces.push_back(support.surface);
+        continue;
+      }
+
       // Throw an exception is misconfigured
       if (support.type == Surface::SurfaceType::Other) {
         throw std::invalid_argument(
@@ -202,9 +214,11 @@ Acts::Experimental::LayerStructureBuilder::construct(
           support.values, support.transform, support.splits);
     }
   }
-
-  // Create the indexed surface grids
-  if (m_cfg.binnings.size() == 1u) {
+  if (m_cfg.binnings.empty()) {
+    ACTS_DEBUG(
+        "No surface binning provided, navigation will be 'tryAll' (potentially "
+        "slow).");
+  } else if (m_cfg.binnings.size() == 1u) {
     ACTS_DEBUG("- 1-dimensional surface binning detected.");
     // Capture the binning
     auto binning = m_cfg.binnings[0u];
diff --git a/Plugins/TGeo/src/TGeoMaterialConverter.cpp b/Plugins/TGeo/src/TGeoMaterialConverter.cpp
index 7b162d7314c..9588d325942 100644
--- a/Plugins/TGeo/src/TGeoMaterialConverter.cpp
+++ b/Plugins/TGeo/src/TGeoMaterialConverter.cpp
@@ -25,6 +25,7 @@ Acts::MaterialSlab Acts::TGeoMaterialConverter::materialSlab(
   ActsScalar uScalor = options.unitLengthScalor;
   ActsScalar rScalar =
       options.unitMassScalor / pow(options.unitLengthScalor, 3);
+
   auto material = Material::fromMassDensity(
       matX0 * uScalor / cFactor, matL0 * uScalor / cFactor, tgMaterial.GetA(),
       tgMaterial.GetZ(), matRho * rScalar * cFactor);
diff --git a/Tests/UnitTests/Core/Detector/LayerStructureBuilderTests.cpp b/Tests/UnitTests/Core/Detector/LayerStructureBuilderTests.cpp
index 6c529dab651..c0e981f2283 100644
--- a/Tests/UnitTests/Core/Detector/LayerStructureBuilderTests.cpp
+++ b/Tests/UnitTests/Core/Detector/LayerStructureBuilderTests.cpp
@@ -81,7 +81,7 @@ BOOST_AUTO_TEST_CASE(LayerStructureBuilder_creationRing) {
   BOOST_CHECK(volumes0.empty());
   BOOST_CHECK(volumeUpdator0.connected());
 
-  using LayerSupport = Acts::Experimental::LayerStructureBuilder::Support;
+  using LayerSupport = Acts::Experimental::ProtoSupport;
 
   lsConfig.auxiliary = "*** Endcap with 22 surfaces + 1 support disc ***";
   lsConfig.supports = {LayerSupport{
@@ -148,7 +148,7 @@ BOOST_AUTO_TEST_CASE(LayerStructureBuilder_creationCylinder) {
   BOOST_CHECK(volumes0.empty());
   BOOST_CHECK(volumeUpdator0.connected());
 
-  using LayerSupport = Acts::Experimental::LayerStructureBuilder::Support;
+  using LayerSupport = Acts::Experimental::ProtoSupport;
 
   lsConfig.auxiliary = "*** Barrel with 448 surfaces + 1 support cylinder ***";
   lsConfig.supports = {LayerSupport{{15., 10., 10., 0., 0.},

From ff17e5b0d77ad1633931bedb372daa4de9ecbc33 Mon Sep 17 00:00:00 2001
From: Andreas Salzburger <asalzburger@gmail.com>
Date: Tue, 3 Oct 2023 16:47:37 +0200
Subject: [PATCH 14/20] fix: root hashes after tgeo thickness gap bug (#2502)

This updates the root hashes after the TGeo bugfix.

The fix in thickness calculation changes slightly the layer building.
---
 Examples/Python/tests/root_file_hashes.txt | 30 +++++++++++-----------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/Examples/Python/tests/root_file_hashes.txt b/Examples/Python/tests/root_file_hashes.txt
index cb576e5aee7..5a17431569a 100644
--- a/Examples/Python/tests/root_file_hashes.txt
+++ b/Examples/Python/tests/root_file_hashes.txt
@@ -28,21 +28,21 @@ test_truth_tracking_kalman[generic-0.0]__performance_track_finder.root: ada9cda2
 test_truth_tracking_kalman[generic-1000.0]__trackstates_fitter.root: 5d54954ad21b8153b1788ccc296680a50969c761924f1c5db0600033d4577a3c
 test_truth_tracking_kalman[generic-1000.0]__tracksummary_fitter.root: 3ecd6851e1633103b9ae20140aa8f6a5a27aecc777177cd83078ed292544d9ae
 test_truth_tracking_kalman[generic-1000.0]__performance_track_finder.root: ada9cda2ec3c648b144bdaa081d6eff923c80f3d484c4196006e847428cf67a8
-test_truth_tracking_kalman[odd-0.0]__trackstates_fitter.root: 7afa54c9f2c989e11236861b672e822f881443c5976dfcb65cebbab155280a83
-test_truth_tracking_kalman[odd-0.0]__tracksummary_fitter.root: 7432fe3e168733085d4b0a83229777c08f9f99ee3f6ebf9ade8072d9b496c46b
+test_truth_tracking_kalman[odd-0.0]__trackstates_fitter.root: f56a0ff4bb33412e4922804688ca6e8957f2b226730deb6b8425d7630557cc29
+test_truth_tracking_kalman[odd-0.0]__tracksummary_fitter.root: ad658cbc40170585f415cd1558ad0665b692556deb298e84c5372b0ccab03633
 test_truth_tracking_kalman[odd-0.0]__performance_track_finder.root: 39aec6316cceb90e314e16b02947faa691c18f57c3a851a25e547a8fc05a4593
-test_truth_tracking_kalman[odd-1000.0]__trackstates_fitter.root: 04ec5361f32eae9151497c54d89c2a0b03a088050be7a37f521f65cd3abf85c8
-test_truth_tracking_kalman[odd-1000.0]__tracksummary_fitter.root: 2a6de6dedd20acae66eef29649a0966f0b83ea00cee9475fbaaca696058b2525
+test_truth_tracking_kalman[odd-1000.0]__trackstates_fitter.root: 97d89826902501803191f17c6a678181448d546276497fef946f33911b181bfc
+test_truth_tracking_kalman[odd-1000.0]__tracksummary_fitter.root: 8d6f97c16875f638fe82d2c5524cc9b674a7e2d190f9ba705a7c2e4996e768d6
 test_truth_tracking_kalman[odd-1000.0]__performance_track_finder.root: 39aec6316cceb90e314e16b02947faa691c18f57c3a851a25e547a8fc05a4593
 test_truth_tracking_gsf[generic]__trackstates_gsf.root: 8d09c4c31bf65866645b779ceb764b2efabe82c64e2bdc84d77e343a8249ca4d
 test_truth_tracking_gsf[generic]__tracksummary_gsf.root: 91a6451e0fc87434cd60422127a8cd8d6ac01cd5390c75b24c446cbf2ff42e4c
-test_truth_tracking_gsf[odd]__trackstates_gsf.root: eb41b01e4a9913af2e59a3fef792104ff0c4119d1985aa0d03e84fb921ea3214
-test_truth_tracking_gsf[odd]__tracksummary_gsf.root: 94ee433af1c3b84dbf7ac3a52f73abdba5ea2143a5c13f63163f64952715c6b5
+test_truth_tracking_gsf[odd]__trackstates_gsf.root: a2364a5072145c7eb4ecf8c67b2e48c8c528fe5ab9307d078c9e5f1f659d87e0
+test_truth_tracking_gsf[odd]__tracksummary_gsf.root: f3c47456c36dd44cb0c8e0371e8e5d8c5e2ba17a8c633e845f5d28a25db3aa0c
 test_particle_gun__particles.root: 8549ba6e20338004ab8ba299fc65e1ee5071985b46df8f77f887cb6fef56a8ec
-test_material_mapping__material-map_tracks.root: 4e1c866038f0c06b099aa74fd01c3d875f07b89f54898f90debd9b558d8e4025
-test_material_mapping__propagation-material.root: 646b8e2bbacec40d0bc4132236f9ab3f03b088e656e6e9b80c47ae03eaf6eab5
+test_material_mapping__material-map_tracks.root: 2deac7a48ff1185ba3889cfd4cc0bd0a6de57293048dfd6766f3c3907232e45e
+test_material_mapping__propagation-material.root: 84b04ebd5721550867f0f193b5eb4e9f3f205df542cb46090d320be6bff565c5
 test_volume_material_mapping__material-map-volume_tracks.root: b95561a6247df9e3599a997daa6c1d76461e58f83059b82f2ec27229c9b35e6c
-test_volume_material_mapping__propagation-volume-material.root: b7597dada372d1b4aaec2c4fc3c0db830ce147ecf515c367ac6ba8ffc2708302
+test_volume_material_mapping__propagation-volume-material.root: ba0a302a2973498d257b70b78dfa6252d595c17960ee7fa754bd310bfaa9e7e8
 test_digitization_example[smeared]__measurements.root: 0888b7bb4da63d15be18c14c5a419c8813f9d76731da94751247dc4a6772c895
 test_digitization_example[geometric]__measurements.root: bade4e094a950f4ecf523b192294e4336da14b4ba6dc5164160cc8e3308cdcd2
 test_digitization_example_input[smeared]__particles.root: 8549ba6e20338004ab8ba299fc65e1ee5071985b46df8f77f887cb6fef56a8ec
@@ -57,14 +57,14 @@ test_ckf_tracks_example[generic-truth_estimated]__tracksummary_ckf.root: 49b3963
 test_ckf_tracks_example[generic-truth_estimated]__performance_seeding.root: 1facb05c066221f6361b61f015cdf0918e94d9f3fce2269ec7b6a4dffeb2bc7e
 test_ckf_tracks_example[generic-truth_smeared]__trackstates_ckf.root: 0351e6e87bbda82c666e3580f8437fa9736f9d95ec4dd8658129bc73bb3fbf6c
 test_ckf_tracks_example[generic-truth_smeared]__tracksummary_ckf.root: d0d843bdb92b39dea1151894f411d645ccaae2423f9293e3251d082835b126bb
-test_ckf_tracks_example[odd-full_seeding]__trackstates_ckf.root: bf564fc788eed6e72791d4eac639bd439ba2e167554cee4edb6a6162cec22089
-test_ckf_tracks_example[odd-full_seeding]__tracksummary_ckf.root: cd39a64fecd59efd9e007eba9e3457be9bbcf534ebefa02617b9228d107f5e41
+test_ckf_tracks_example[odd-full_seeding]__trackstates_ckf.root: 6a7630f6845bc5cfca18741fa1347244f35aed499a2585ac3d7e4f4cb31c87d5
+test_ckf_tracks_example[odd-full_seeding]__tracksummary_ckf.root: 4fdcdb6122f88b8710f75bf99a7d09d7e265a3964f10875fa7b3970ddef179e0
 test_ckf_tracks_example[odd-full_seeding]__performance_seeding_trees.root: 43c58577aafe07645e5660c4f43904efadf91d8cda45c5c04c248bbe0f59814f
-test_ckf_tracks_example[odd-truth_estimated]__trackstates_ckf.root: 3defdfb49c4942e53e5cda8f2cd01475ce2bfe1b92b6745d83ea17d9c2ad535f
-test_ckf_tracks_example[odd-truth_estimated]__tracksummary_ckf.root: 0be2a992ca77ab7fbf27dc2fc04ddf65add1ac4934e51f71a1ecc9edea871ef6
+test_ckf_tracks_example[odd-truth_estimated]__trackstates_ckf.root: ffe11d3dbcc89ad78f96487167beafc36355e8359140883fa4f6f08b256e5e77
+test_ckf_tracks_example[odd-truth_estimated]__tracksummary_ckf.root: f7ab145a061873065dc3bbfc7d56a779729afbe1c2a4083beaef35b4058f4afa
 test_ckf_tracks_example[odd-truth_estimated]__performance_seeding.root: 1a36b7017e59f1c08602ef3c2cb0483c51df248f112e3780c66594110719c575
-test_ckf_tracks_example[odd-truth_smeared]__trackstates_ckf.root: d4b47a6c9621847be84a17a21fb929a050c49d0c7b3d944bf14fee365478609d
-test_ckf_tracks_example[odd-truth_smeared]__tracksummary_ckf.root: 84b381367e8722a9dfcffa3f5d72e8b0c9a22f9df460f502d31a13e52b5ac36c
+test_ckf_tracks_example[odd-truth_smeared]__trackstates_ckf.root: 11e26017fa19a3ba6e5cd87be2810725764555736613306ce9fb044d6acfaef7
+test_ckf_tracks_example[odd-truth_smeared]__tracksummary_ckf.root: 7cb34ce6f29e2d84d7bf61c00be37aed721179c0d032453e0188f6277fdc3a1b
 test_vertex_fitting_reading[Truth-False-100]__performance_vertexing.root: 76ef6084d758dfdfc0151ddec2170e12d73394424e3dac4ffe46f0f339ec8293
 test_vertex_fitting_reading[Iterative-False-100]__performance_vertexing.root: 60372210c830a04f95ceb78c6c68a9b0de217746ff59e8e73053750c837b57eb
 test_vertex_fitting_reading[Iterative-True-100]__performance_vertexing.root: e34f217d524a5051dbb04a811d3407df3ebe2cc4bb7f54f6bda0847dbd7b52c3

From 7719ac6260eb4d08c32b84f53886a1c966cf0802 Mon Sep 17 00:00:00 2001
From: Andreas Stefl <stefl.andreas@gmail.com>
Date: Tue, 3 Oct 2023 17:54:22 +0200
Subject: [PATCH 15/20] fix: Fix Geant4 initial particle translation (#2492)

Observed problem: Particles put into G4 will not have the same properties after `BeanOn` is called. We relied on this in order to translate them back into Acts.

The following image shows how pt=1GeV looked like in `particles_initial` after a G4 forth and back.

![image](https://github.com/acts-project/acts/assets/487211/41c83669-0f3d-45ab-8b24-bcfe5d639680)

Solution: Put particles into the initial collection on translation and adopt generic translation code so it will accept already translated particles.
---
 .../Geant4/src/Geant4Simulation.cpp           | 23 +++++++++++++++----
 .../Geant4/src/ParticleTrackingAction.cpp     | 19 ++++++++-------
 .../Geant4/src/SimParticleTranslation.cpp     |  1 +
 Examples/Python/tests/root_file_hashes.txt    |  2 +-
 4 files changed, 32 insertions(+), 13 deletions(-)

diff --git a/Examples/Algorithms/Geant4/src/Geant4Simulation.cpp b/Examples/Algorithms/Geant4/src/Geant4Simulation.cpp
index 3a85b3e64db..0f2a56011ac 100644
--- a/Examples/Algorithms/Geant4/src/Geant4Simulation.cpp
+++ b/Examples/Algorithms/Geant4/src/Geant4Simulation.cpp
@@ -199,10 +199,6 @@ ActsExamples::Geant4Simulation::Geant4Simulation(const Config& cfg,
     runManager().SetUserAction(primaryGeneratorAction);
   }
 
-  // Please note:
-  // The following two blocks rely on the fact that the Acts
-  // detector constructions cache the world volume
-
   // Particle action
   {
     // Clear tracking action if it exists
@@ -251,6 +247,10 @@ ActsExamples::Geant4Simulation::Geant4Simulation(const Config& cfg,
   // Get the g4World cache
   G4VPhysicalVolume* g4World = m_detectorConstruction->Construct();
 
+  // Please note:
+  // The following two blocks rely on the fact that the Acts
+  // detector constructions cache the world volume
+
   // Set the magnetic field
   if (cfg.magneticField) {
     ACTS_INFO("Setting ACTS configured field to Geant4.");
@@ -360,6 +360,21 @@ ActsExamples::Geant4MaterialRecording::Geant4MaterialRecording(
     runManager().SetUserAction(primaryGeneratorAction);
   }
 
+  // Particle action
+  {
+    // Clear tracking action if it exists
+    if (runManager().GetUserTrackingAction() != nullptr) {
+      delete runManager().GetUserTrackingAction();
+    }
+    ParticleTrackingAction::Config trackingCfg;
+    trackingCfg.eventStore = m_eventStore;
+    trackingCfg.keepParticlesWithoutHits = true;
+    // G4RunManager will take care of deletion
+    auto trackingAction = new ParticleTrackingAction(
+        trackingCfg, m_logger->cloneWithSuffix("ParticleTracking"));
+    runManager().SetUserAction(trackingAction);
+  }
+
   // Stepping action
   {
     // Clear stepping action if it exists
diff --git a/Examples/Algorithms/Geant4/src/ParticleTrackingAction.cpp b/Examples/Algorithms/Geant4/src/ParticleTrackingAction.cpp
index 55410190b22..2d1c0a7dc74 100644
--- a/Examples/Algorithms/Geant4/src/ParticleTrackingAction.cpp
+++ b/Examples/Algorithms/Geant4/src/ParticleTrackingAction.cpp
@@ -44,24 +44,25 @@ void ActsExamples::ParticleTrackingAction::PreUserTrackingAction(
     ACTS_WARNING("Hit buffer not empty after track");
   }
 
-  auto particleId = makeParticleId(aTrack->GetTrackID(), aTrack->GetParentID());
+  auto barcode = makeParticleId(aTrack->GetTrackID(), aTrack->GetParentID());
 
-  // There is already a warning printed in the makeParticleId function
-  if (not particleId) {
+  // There is already a warning printed in the makeParticleId function if this
+  // indicates a failure
+  if (not barcode) {
     return;
   }
 
-  auto [it, success] =
-      eventStore().particlesInitial.insert(convert(*aTrack, *particleId));
+  auto particle = convert(*aTrack, *barcode);
+  auto [it, success] = eventStore().particlesInitial.insert(particle);
 
   // Only register particle at the initial state AND if there is no particle ID
   // collision
   if (success) {
-    eventStore().trackIdMapping[aTrack->GetTrackID()] = *particleId;
+    eventStore().trackIdMapping[aTrack->GetTrackID()] = particle.particleId();
   } else {
     eventStore().particleIdCollisionsInitial++;
     ACTS_WARNING("Particle ID collision with "
-                 << *particleId
+                 << particle.particleId()
                  << " detected for initial particles. Skip particle");
   }
 }
@@ -72,6 +73,8 @@ void ActsExamples::ParticleTrackingAction::PostUserTrackingAction(
   // collision
   if (eventStore().trackIdMapping.find(aTrack->GetTrackID()) ==
       eventStore().trackIdMapping.end()) {
+    ACTS_WARNING("Particle ID for track ID " << aTrack->GetTrackID()
+                                             << " not registered. Skip");
     return;
   }
 
@@ -132,7 +135,7 @@ ActsExamples::ParticleTrackingAction::makeParticleId(G4int trackId,
   // or we are making a final particle state)
   if (eventStore().trackIdMapping.find(trackId) !=
       eventStore().trackIdMapping.end()) {
-    return eventStore().trackIdMapping.at(trackId);
+    return std::nullopt;
   }
 
   if (eventStore().trackIdMapping.find(parentId) ==
diff --git a/Examples/Algorithms/Geant4/src/SimParticleTranslation.cpp b/Examples/Algorithms/Geant4/src/SimParticleTranslation.cpp
index a66da42154a..8dc9527451b 100644
--- a/Examples/Algorithms/Geant4/src/SimParticleTranslation.cpp
+++ b/Examples/Algorithms/Geant4/src/SimParticleTranslation.cpp
@@ -150,6 +150,7 @@ void ActsExamples::SimParticleTranslation::GeneratePrimaries(G4Event* anEvent) {
     // Add the primary to the vertex
     pVertex->SetPrimary(particle);
 
+    eventStore().particlesInitial.insert(part);
     eventStore().trackIdMapping[particle->GetTrackID()] = part.particleId();
 
     ++pCounter;
diff --git a/Examples/Python/tests/root_file_hashes.txt b/Examples/Python/tests/root_file_hashes.txt
index 5a17431569a..2e78779466b 100644
--- a/Examples/Python/tests/root_file_hashes.txt
+++ b/Examples/Python/tests/root_file_hashes.txt
@@ -3,7 +3,7 @@ test_fatras__particles_final.root: d3a900a7151623109f2e22e11beb477635eb549d5e611
 test_fatras__particles_initial.root: 0e2d9974fdd4aa5549c5c05817ec54fe6c7d9cbe7969647f227956167e31110d
 test_fatras__hits.root: d3ec06cd12e3737b5c783302ca29a532c885dc35930901d86b2f6d17041037c6
 test_geant4__particles_final.root: abf91622e96c0723651e864e050c7fdeee84b230aacb1c261ad81ff4e5df5f2c
-test_geant4__particles_initial.root: 5be86aa4a2fc369093746451f37085e2c93f80f079b66023f5fe4b67e20100f6
+test_geant4__particles_initial.root: cfe3d50a9c38b45eefc2e0c0948d5b0899ced6332dd183e1d19cb0b766f76363
 test_geant4__hits.root: 70b592a546fd362c9341d87c9068b1f8fed657e0036e62e7262c01fa5eb2d469
 test_seeding__estimatedparams.root: f11b6bdc2b9b13e84f974f2dfbd9f409255f4f0eab212fe8581c352b3f2cfc27
 test_seeding__performance_seeding.root: 992f9c611d30dde0d3f3ab676bab19ada61ab6a4442828e27b65ec5e5b7a2880

From 42fca85b34f6ce64162f0e6ccef15aee7cd9e2b0 Mon Sep 17 00:00:00 2001
From: Andreas Stefl <stefl.andreas@gmail.com>
Date: Tue, 3 Oct 2023 21:57:07 +0200
Subject: [PATCH 16/20] refactor: Rename ambi output in Python examples (#2504)

`tracks` vs `trajectories`

this might break client python code but should be easy to adopt

Co-authored-by: kodiakhq[bot] <49736102+kodiakhq[bot]@users.noreply.github.com>
---
 .../Python/python/acts/examples/reconstruction.py  | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/Examples/Python/python/acts/examples/reconstruction.py b/Examples/Python/python/acts/examples/reconstruction.py
index f3a3c7f96d6..823279d75f8 100644
--- a/Examples/Python/python/acts/examples/reconstruction.py
+++ b/Examples/Python/python/acts/examples/reconstruction.py
@@ -1323,7 +1323,7 @@ def addAmbiguityResolution(
     alg = GreedyAmbiguityResolutionAlgorithm(
         level=customLogLevel(),
         inputTracks="tracks",
-        outputTracks="filteredTrajectories",
+        outputTracks="ambiTracks",
         **acts.examples.defaultKWArgs(
             maximumSharedHits=config.maximumSharedHits,
             nMeasurementsMin=config.nMeasurementsMin,
@@ -1335,7 +1335,7 @@ def addAmbiguityResolution(
     trackConverter = acts.examples.TracksToTrajectories(
         level=customLogLevel(),
         inputTracks=alg.config.outputTracks,
-        outputTrajectories="trajectories-from-solved-tracks",
+        outputTrajectories="ambiTrajectories",
     )
     s.addAlgorithm(trackConverter)
     s.addWhiteboardAlias("trajectories", trackConverter.config.outputTrajectories)
@@ -1379,7 +1379,7 @@ def addAmbiguityResolutionML(
         level=customLogLevel(),
         inputTracks="tracks",
         inputDuplicateNN=onnxModelFile,
-        outputTracks="filteredTrajectoriesML",
+        outputTracks="ambiTracksML",
         **acts.examples.defaultKWArgs(
             nMeasurementsMin=config.nMeasurementsMin,
         ),
@@ -1388,7 +1388,7 @@ def addAmbiguityResolutionML(
     algGreedy = GreedyAmbiguityResolutionAlgorithm(
         level=customLogLevel(),
         inputTracks=algML.config.outputTracks,
-        outputTracks="filteredTrajectoriesMLGreedy",
+        outputTracks="ambiTracksMLGreedy",
         **acts.examples.defaultKWArgs(
             maximumSharedHits=config.maximumSharedHits,
             nMeasurementsMin=config.nMeasurementsMin,
@@ -1402,7 +1402,7 @@ def addAmbiguityResolutionML(
     trackConverter = acts.examples.TracksToTrajectories(
         level=customLogLevel(),
         inputTracks=algGreedy.config.outputTracks,
-        outputTrajectories="trajectories-from-solved-tracks",
+        outputTrajectories="ambiTrajectories",
     )
     s.addAlgorithm(trackConverter)
     s.addWhiteboardAlias("trajectories", trackConverter.config.outputTrajectories)
@@ -1444,7 +1444,7 @@ def addAmbiguityResolutionMLDBScan(
         level=customLogLevel(),
         inputTracks="tracks",
         inputDuplicateNN=onnxModelFile,
-        outputTracks="filteredTrajectoriesMLDBScan",
+        outputTracks="ambiTracksMLDBScan",
         **acts.examples.defaultKWArgs(
             nMeasurementsMin=config.nMeasurementsMin,
             epsilonDBScan=config.epsilonDBScan,
@@ -1456,7 +1456,7 @@ def addAmbiguityResolutionMLDBScan(
     trackConverter = acts.examples.TracksToTrajectories(
         level=customLogLevel(),
         inputTracks=alg.config.outputTracks,
-        outputTrajectories="trajectories-from-solved-tracks",
+        outputTrajectories="ambiTrajectories",
     )
     s.addAlgorithm(trackConverter)
     s.addWhiteboardAlias("trajectories", trackConverter.config.outputTrajectories)

From 691f1d5dc731e67c334f316bfa8a8dff0d36dd9f Mon Sep 17 00:00:00 2001
From: Andreas Stefl <stefl.andreas@gmail.com>
Date: Tue, 3 Oct 2023 23:08:12 +0200
Subject: [PATCH 17/20] fix: Initialize output in `RefittingAlgorithm` (#2503)

---
 Examples/Algorithms/TrackFitting/src/RefittingAlgorithm.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Examples/Algorithms/TrackFitting/src/RefittingAlgorithm.cpp b/Examples/Algorithms/TrackFitting/src/RefittingAlgorithm.cpp
index f61260ae9d4..fa92a98de1c 100644
--- a/Examples/Algorithms/TrackFitting/src/RefittingAlgorithm.cpp
+++ b/Examples/Algorithms/TrackFitting/src/RefittingAlgorithm.cpp
@@ -44,6 +44,7 @@ ActsExamples::RefittingAlgorithm::RefittingAlgorithm(Config config,
   }
 
   m_inputTracks.initialize(m_cfg.inputTracks);
+  m_outputTracks.initialize(m_cfg.outputTracks);
 }
 
 ActsExamples::ProcessCode ActsExamples::RefittingAlgorithm::execute(

From a3013a0504f3edd1515f439ca608a0c9a7a1e655 Mon Sep 17 00:00:00 2001
From: Andreas Salzburger <asalzburger@gmail.com>
Date: Thu, 5 Oct 2023 09:17:34 +0200
Subject: [PATCH 18/20] feat:  dd4hep surface factory (#2501)

This is the next step in preparing the ODD chain for old and new
detector.
It adds the new DD4hep surface factory and first set of unit tests.

@dimitra97 since you start to have DD4hep experience, I requested your
review.
---
 Plugins/DD4hep/CMakeLists.txt                 |   3 +-
 .../Plugins/DD4hep/DD4hepBinningHelpers.hpp   | 166 ++++++++++
 .../DD4hep/DD4hepConversionHelpers.hpp        |  52 +++
 .../Plugins/DD4hep/DD4hepDetectorElement.hpp  |  25 +-
 .../DD4hep/DD4hepDetectorSurfaceFactory.hpp   | 150 +++++++++
 ...Material.hpp => DD4hepMaterialHelpers.hpp} |   0
 Plugins/DD4hep/src/ConvertDD4hepDetector.cpp  |   2 +-
 Plugins/DD4hep/src/DD4hepDetectorElement.cpp  |   4 +-
 .../src/DD4hepDetectorSurfaceFactory.cpp      | 142 ++++++++
 Plugins/DD4hep/src/DD4hepLayerBuilder.cpp     |   4 +-
 ...terial.cpp => DD4hepMaterialConverter.cpp} |   3 +-
 Plugins/DD4hep/src/DD4hepMaterialHelpers.cpp  | 132 ++++++++
 Tests/UnitTests/Plugins/CMakeLists.txt        |   1 +
 Tests/UnitTests/Plugins/DD4hep/CMakeLists.txt |  45 +++
 .../DD4hep/DD4hepDetectorElementTests.cpp     | 310 ++++++++++++++++++
 .../Plugins/DD4hep/DD4hepTestsHelper.cpp      | 102 ++++++
 .../Plugins/DD4hep/DD4hepTestsHelper.hpp      |  73 +++++
 .../UnitTests/Plugins/DD4hep/LayerFactory.cpp | 268 +++++++++++++++
 .../Plugins/DD4hep/PrimitivesFactory.cpp      | 179 ++++++++++
 .../UnitTests/Plugins/DD4hep/XMLFragments.hpp |  50 +++
 20 files changed, 1689 insertions(+), 22 deletions(-)
 create mode 100644 Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepBinningHelpers.hpp
 create mode 100644 Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorSurfaceFactory.hpp
 rename Plugins/DD4hep/include/Acts/Plugins/DD4hep/{ConvertDD4hepMaterial.hpp => DD4hepMaterialHelpers.hpp} (100%)
 create mode 100644 Plugins/DD4hep/src/DD4hepDetectorSurfaceFactory.cpp
 rename Plugins/DD4hep/src/{ConvertDD4hepMaterial.cpp => DD4hepMaterialConverter.cpp} (99%)
 create mode 100644 Plugins/DD4hep/src/DD4hepMaterialHelpers.cpp
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/CMakeLists.txt
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/DD4hepDetectorElementTests.cpp
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.cpp
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.hpp
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/LayerFactory.cpp
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/PrimitivesFactory.cpp
 create mode 100644 Tests/UnitTests/Plugins/DD4hep/XMLFragments.hpp

diff --git a/Plugins/DD4hep/CMakeLists.txt b/Plugins/DD4hep/CMakeLists.txt
index 34844fbba26..7dc8ea5bf36 100644
--- a/Plugins/DD4hep/CMakeLists.txt
+++ b/Plugins/DD4hep/CMakeLists.txt
@@ -3,8 +3,9 @@ include(FetchContent)
 add_library(
   ActsPluginDD4hep SHARED
   src/ConvertDD4hepDetector.cpp
-  src/ConvertDD4hepMaterial.cpp
+  src/DD4hepMaterialHelpers.cpp
   src/DD4hepDetectorElement.cpp
+  src/DD4hepDetectorSurfaceFactory.cpp
   src/DD4hepLayerBuilder.cpp
   src/DD4hepVolumeBuilder.cpp)
 target_include_directories(
diff --git a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepBinningHelpers.hpp b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepBinningHelpers.hpp
new file mode 100644
index 00000000000..52941e4e49e
--- /dev/null
+++ b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepBinningHelpers.hpp
@@ -0,0 +1,166 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include "Acts/Definitions/Units.hpp"
+#include "Acts/Detector/ProtoBinning.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
+#include "Acts/Utilities/BinningData.hpp"
+#include "Acts/Utilities/detail/AxisFwd.hpp"
+
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include <DD4hep/DD4hepUnits.h>
+#include <DD4hep/DetElement.h>
+#include <DD4hep/DetFactoryHelper.h>
+#include <DD4hep/Objects.h>
+#include <DDRec/DetectorData.h>
+#include <XML/Utilities.h>
+
+namespace Acts {
+
+static std::vector<std::tuple<std::string, BinningValue>> allowedBinnings = {
+    {"x", binX}, {"y", binY}, {"z", binZ}, {"phi", binPhi}, {"r", binR}};
+
+/// Helper method to decode the binning from what would appear in the
+/// xml into variant parameters, such that it can be understood in the
+/// downstream processing.
+///
+/// This parses the dediced \< surface_binning \> tag
+/// - allowed/understood binnings are x,y,z,phi,r
+/// - allowed/unserstood types are equidistant/variable (those are
+/// auto-detected)
+///
+/// Example for e.g. bname = \"surface_binning\":
+///
+/// - Equidistant binning in r and phi:
+///   \< surface_binning nr=\"2\" rmin=\"25\" rmax=\"100\" nphi=\"22\"
+///   phimin=\"-3.1415\" phimax=\"3.1415\" \/ \>
+/// - Variable binning in z:
+///   \< surface_binning zboundaries=\"-100,-90,90,100\" \/ \>
+///
+/// And 2D combinations of this are allowed.
+///
+/// @param variantParams [in,out] the variant parameters that will be overwritten
+/// @param xmlBinning the surface binning
+/// @param bname the binning base name, e.g. surface_binning, material_binning
+/// @param bvals the boundary values, i.e. x,y,z,phi,r
+///
+void decodeBinning(dd4hep::rec::VariantParameters &variantParams,
+                   const xml_comp_t &xmlBinning, const std::string &bname,
+                   const std::vector<std::string> &bvals) {
+  // Set the surface binninng parameter to true
+  variantParams.set<int>(std::string(bname + "_dim"), bvals.size());
+  for (const auto &bv : bvals) {
+    // Gather the number of bins, 0 indicates variable binning
+    int nBins = Acts::getAttrValueOr<int>(xmlBinning, std::string("n" + bv), 0);
+    // Gather the bin expansion parameter, expansion of 0 is default
+    int nExpansion =
+        Acts::getAttrValueOr<int>(xmlBinning, std::string(bv + "expansion"), 0);
+    variantParams.set<int>(bname + "_" + bv + "_exp", nExpansion);
+    // Equidistant binning detected
+    if (nBins > 0) {
+      // Set the type identificatio
+      variantParams.set<std::string>(bname + "_" + bv + "_type", "equidistant");
+      // Set the number of bins
+      variantParams.set<int>(bname + "_" + bv + "_n", nBins);
+      // Set min/max paraeter
+      variantParams.set<double>(
+          bname + "_" + bv + "_min",
+          xmlBinning.attr<double>(std::string(bv + "min").c_str()));
+      variantParams.set<double>(
+          bname + "_" + bv + "_max",
+          xmlBinning.attr<double>(std::string(bv + "max").c_str()));
+    } else {
+      // Variable binning detected
+      variantParams.set<std::string>(bname + "_" + bv + "_type", "variable");
+      // Get the number of bins explicitly
+      auto boundaries =
+          xmlBinning.attr<std::string>(std::string(bv + "boundaries").c_str());
+      std::string del = ",";
+      int end = boundaries.find(del);
+      int ib = 0;
+      // Unit conversion
+      double unitScalar = 1.;
+      if (bv != "phi") {
+        unitScalar = Acts::UnitConstants::mm / dd4hep::millimeter;
+      }
+      // Split and convert
+      while (end != -1) {
+        double bR = unitScalar * dd4hep::_toFloat(boundaries.substr(0, end));
+        variantParams.set<double>(
+            bname + "_" + bv + "_b" + std::to_string(ib++), bR);
+        boundaries.erase(boundaries.begin(), boundaries.begin() + end + 1);
+        end = boundaries.find(del);
+      }
+      double bR = unitScalar * std::stod(boundaries.substr(0, end));
+      variantParams.set<double>(bname + "_" + bv + "_b" + std::to_string(ib),
+                                bR);
+      // The number of bins are needed to unpack the data
+      variantParams.set<int>(bname + "_" + bv + "_n", ib);
+    }
+  }
+}
+
+/// @brief This method converts the DD4hep binning into the Acts ProtoBinning
+///
+/// @param dd4hepElement the element which has a binning description attached
+/// @param bname the binning base name, e.g. surface_binning, material_binning
+///
+/// @return a vector of proto binning descriptions
+std::vector<Acts::Experimental::ProtoBinning> convertBinning(
+    const dd4hep::DetElement &dd4hepElement, const std::string &bname) {
+  std::vector<Experimental::ProtoBinning> protoBinnings;
+  for (const auto &[ab, bVal] : allowedBinnings) {
+    auto type =
+        getParamOr<std::string>(bname + "_" + ab + "_type", dd4hepElement, "");
+    if (not type.empty()) {
+      // Default binning is bound
+      auto bType = Acts::detail::AxisBoundaryType::Bound;
+      // Equidistant or variable binning
+      detail::AxisType aType = type == "equidistant"
+                                   ? detail::AxisType::Equidistant
+                                   : detail::AxisType::Variable;
+      int nBins = getParamOr<int>(bname + "_" + ab + "_n", dd4hepElement, 0);
+      int nExpansion =
+          getParamOr<int>(bname + "_" + ab + "_exp", dd4hepElement, 0);
+      if (aType == detail::AxisType::Equidistant) {
+        // Equidistant binning
+        auto min = getParamOr<ActsScalar>(bname + "_" + ab + "_min",
+                                          dd4hepElement, 0.);
+        auto max = getParamOr<ActsScalar>(bname + "_" + ab + "_max",
+                                          dd4hepElement, 0.);
+        // Check for closed phi binning
+        if (bVal == binPhi and (max - min) > 1.9 * M_PI) {
+          bType = Acts::detail::AxisBoundaryType::Closed;
+        }
+        protoBinnings.push_back(Experimental::ProtoBinning(
+            bVal, bType, min, max, nBins, nExpansion));
+      } else {
+        // Variable binning
+        std::vector<ActsScalar> edges;
+        for (int ib = 0; ib <= nBins; ++ib) {
+          edges.push_back(getParamOr<ActsScalar>(
+              bname + "_" + ab + "_b" + std::to_string(ib), dd4hepElement, 0.));
+        }
+        // Check for closed phi binning
+        if (bVal == binPhi and (edges.back() - edges.front()) > 1.9 * M_PI) {
+          bType = Acts::detail::AxisBoundaryType::Closed;
+        }
+        protoBinnings.push_back(
+            Experimental::ProtoBinning(bVal, bType, edges, nExpansion));
+      }
+    }
+  }
+  return protoBinnings;
+}
+
+}  // namespace Acts
diff --git a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp
index 2f8b1bdf9c4..5a9384ee84a 100644
--- a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp
+++ b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp
@@ -9,6 +9,8 @@
 #pragma once
 
 #include <DD4hep/DetElement.h>
+#include <DD4hep/DetFactoryHelper.h>
+#include <DD4hep/Objects.h>
 #include <DDRec/DetectorData.h>
 
 namespace Acts {
@@ -88,4 +90,54 @@ inline bool hasParam(const std::string& key, dd4hep::DetElement& elt) {
 inline bool hasParams(dd4hep::DetElement& elt) {
   return elt.extension<dd4hep::rec::VariantParameters>(false) != nullptr;
 }
+
+/// @brief Helper method to get an attribute with fallback
+///
+/// @note the fallback value has to be provided
+///
+/// @tparam value_type the primitive type allowed by variant parameters
+///
+/// @param node the node object from DD4hep
+/// @param attrName the name of the attribute that is checked
+/// @param fallbackValue the fallbackValue
+///
+/// @return either the gathered attribute or the fallback
+template <typename value_type>
+value_type getAttrValueOr(const dd4hep::xml::Component& node,
+                          const std::string& attrName,
+                          const value_type& fallbackValue) {
+  if (node.hasAttr(dd4hep::xml::Strng_t(attrName.c_str()))) {
+    return node.attr<value_type>(attrName.c_str());
+  } else {
+    return fallbackValue;
+  }
+}
+
+/// @brief A simple helper function to extract a series
+///
+/// @tparam value_type the primitive type allowed by variant parameters
+///
+/// @param dd4hepElement the detector element w
+/// @param bname The base name attribute of the variant parameter pack
+/// @param unitConversion is a conversion factor DD4hep -> ACTS
+///
+/// @return the extracted series as a vector
+template <typename value_type>
+std::vector<value_type> extractSeries(const dd4hep::DetElement& dd4hepElement,
+                                      const std::string& bname,
+                                      const value_type& unitConversion = 1) {
+  std::vector<value_type> series = {};
+
+  int fallBack = 0;
+  int nVals = getParamOr<int>(bname + "_n", dd4hepElement, fallBack);
+  series.reserve(nVals);
+  for (auto ib = 0; ib < nVals; ++ib) {
+    auto val = unitConversion *
+               getParamOr<value_type>(bname + "_" + std::to_string(ib),
+                                      dd4hepElement, 0.);
+    series.push_back(val);
+  }
+  return series;
+}
+
 }  // namespace Acts
diff --git a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp
index 823f5d0267f..97c78cbd62a 100644
--- a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp
+++ b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp
@@ -11,6 +11,7 @@
 #include "Acts/Geometry/GeometryContext.hpp"
 #include "Acts/Plugins/TGeo/TGeoDetectorElement.hpp"
 
+#include <map>
 #include <memory>
 #include <string>
 
@@ -29,24 +30,25 @@ class ISurfaceMaterial;
 ///
 /// DetectorElement plugin for DD4hep detector elements. DD4hep is based on
 /// TGeo shapes, therefore the DD4hepDetectorElement inherits from
-/// TGeoDetectorElement.
+/// TGeoDetectorElement in order to perform the conversion.
+///
 /// The full geometrical information is provided by the TGeoDetectorElement.
 /// The DD4hepDetectorElement extends the TGeoDetectorElement by containing a
 /// segmentation for the readout.
-/// @todo what if shape conversion fails? add implementation of more than one
-/// surface per module, implementing also for other shapes->Cone,ConeSeg,Tube?
-/// what
-/// if not used with DD4hep?
-/// @todo segmentation
-
+///
 class DD4hepDetectorElement : public TGeoDetectorElement {
  public:
   /// Broadcast the context type
   using ContextType = GeometryContext;
 
+  /// Define a string based story
+  using Store = std::map<std::string,
+                         std::vector<std::shared_ptr<DD4hepDetectorElement>>>;
+
   /// Constructor
-  /// @param detElement The DD4hep DetElement which should be linked to a
-  /// surface
+  /// @param detElement The DD4hep DetElement which should be associated to
+  /// an ACTS surface
+  ///
   /// @param axes is the axis orientation with respect to the tracking frame
   ///        it is a string of the three characters x, y and z (standing for
   ///        the three axes) There is a distinction between
@@ -63,7 +65,6 @@ class DD4hepDetectorElement : public TGeoDetectorElement {
   /// @param scalor is the scale factor for unit conversion if needed
   /// @param isDisc in case the sensitive detector module should be translated
   ///        as disc (e.g. for endcaps) this flag should be set to true
-  /// @param digitizationModule Optional digitization configuration for the element
   /// @note In the translation from a 3D geometry (TGeo) which only knows
   ///       tubes to a 2D geometry (Tracking geometry) a distinction if the
   ///       module should be described as a cylinder or a disc surface needs to
@@ -76,9 +77,7 @@ class DD4hepDetectorElement : public TGeoDetectorElement {
   DD4hepDetectorElement(
       const dd4hep::DetElement detElement, const std::string& axes = "XYZ",
       double scalor = 1., bool isDisc = false,
-      std::shared_ptr<const ISurfaceMaterial> material = nullptr,
-      const std::shared_ptr<const DigitizationModule>& digitizationModule =
-          nullptr);
+      std::shared_ptr<const ISurfaceMaterial> material = nullptr);
 
   ~DD4hepDetectorElement() override = default;
 
diff --git a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorSurfaceFactory.hpp b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorSurfaceFactory.hpp
new file mode 100644
index 00000000000..5bb080acfea
--- /dev/null
+++ b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepDetectorSurfaceFactory.hpp
@@ -0,0 +1,150 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include "Acts/Definitions/Algebra.hpp"
+#include "Acts/Definitions/Common.hpp"
+#include "Acts/Definitions/Units.hpp"
+#include "Acts/Detector/LayerStructureBuilder.hpp"
+#include "Acts/Detector/ProtoBinning.hpp"
+#include "Acts/Surfaces/Surface.hpp"
+
+#include <tuple>
+#include <vector>
+
+#include <DD4hep/DD4hepUnits.h>
+
+class TGeoMatrix;
+
+namespace dd4hep {
+class DetElement;
+}
+
+namespace Acts {
+
+using namespace UnitLiterals;
+
+class DD4hepDetectorElement;
+
+/// A factory to convert DD4hep DetectorElements into sensitive
+/// of passive surfaces which are filled into a Cache object,
+/// also the create DD4hepDetector elements are provided
+///
+class DD4hepDetectorSurfaceFactory {
+ public:
+  /// Collect the sensitive surface & detector element
+  using DD4hepSensitiveSurface =
+      std::tuple<std::shared_ptr<DD4hepDetectorElement>,
+                 std::shared_ptr<Surface>>;
+
+  /// Collect the passive surfaces, bool whether it should be
+  /// added as an "always try, i.e. assignToAll=true" surface
+  using DD4hepPassiveSurface = std::tuple<std::shared_ptr<Surface>, bool>;
+
+  /// Nested cache that records the conversion status
+  struct Cache {
+    /// The created detector elements - for the detector store
+    std::vector<DD4hepSensitiveSurface> sensitiveSurfaces;
+    /// The created non-const surfaces - for further processing,
+    std::vector<DD4hepPassiveSurface> passiveSurfaces;
+    /// matching and conversion statistics: surfaces
+    std::size_t convertedSurfaces = 0;
+    /// matching and conversion statistics: materials
+    std::size_t convertedMaterials = 0;
+    /// The collected binnings
+    std::vector<Experimental::ProtoBinning> binnings = {};
+    /// The collected supports
+    std::vector<Experimental::ProtoSupport> supports = {};
+  };
+
+  /// Nested options struct to steer the conversion
+  struct Options {
+    /// Convert sensitive surfaces
+    bool convertSensitive = true;
+    /// Convert passive surfaces
+    bool convertPassive = true;
+    /// Convert material directly
+    bool convertMaterial = true;
+    /// Convert proxy material - overrides convertMaterial if present
+    bool convertProxyMaterial = true;
+    /// New reference material thickness for surfaces
+    ActsScalar surfaceMaterialThickness = 1_mm;
+  };
+
+  /// The DD4hep detector element factory
+  ///
+  /// @param mlogger a screen output logger
+  DD4hepDetectorSurfaceFactory(
+      std::unique_ptr<const Logger> mlogger = getDefaultLogger(
+          "DD4hepDetectorSurfaceFactory", Acts::Logging::INFO));
+
+  /// Construction method of the detector elements
+  ///
+  /// @param cache [in,out] into which the Elements are filled
+  /// @param dd4hepElement the detector element representing the super structure
+  /// @param options to steer the conversion
+  ///
+  /// @note this method will call the recursive construction
+  void construct(Cache& cache, const dd4hep::DetElement& dd4hepElement,
+                 const Options& options);
+
+ private:
+  /// @brief  auto-calculate the unit length conversion
+  static constexpr ActsScalar unitLength =
+      Acts::UnitConstants::mm / dd4hep::millimeter;
+
+  /// Logging instance
+  std::unique_ptr<const Logger> m_logger;
+
+  /// Private access to the logger
+  const Logger& logger() const { return *m_logger; }
+
+  /// Construction method of the detector elements - recursive walk down
+  ///
+  /// @param cache [in,out] into which the Elements are filled
+  /// @param dd4hepElement the detector element representing the super structure
+  /// @param options to steer the conversion
+  /// @param level the current level of the tree, used for log message output
+  ///
+  /// @note this method is called recursively
+  void recursiveConstruct(Cache& cache, const dd4hep::DetElement& dd4hepElement,
+                          const Options& options, int level);
+
+  /// Method to convert a single sensitive detector element
+  ///
+  /// @param dd4hepElement the detector element
+  /// @param options to steer the conversion
+  ///
+  /// @return a created detector element and surface
+  DD4hepSensitiveSurface constructSensitiveComponents(
+      const dd4hep::DetElement& dd4hepElement, const Options& options) const;
+
+  /// Method to convert a single sensitive detector element
+  ///
+  /// @param dd4hepElement the detector element
+  /// @param options to steer the conversion
+  ///
+  /// @return a created surface
+  DD4hepPassiveSurface constructPassiveComponents(
+      const dd4hep::DetElement& dd4hepElement, const Options& options) const;
+
+  /// Attach surface material if present
+  ///
+  /// @param dd4hepElement the detector element
+  /// @param surface the surface to attach the material to
+  /// @param thickness the thickness of the condensed component
+  /// @param options to steer the conversion
+  ///
+  /// @note void function that also checks the options if the attachment should be applied
+  void attachSurfaceMaterial(const dd4hep::DetElement& dd4hepElement,
+                             Acts::Surface& surface, ActsScalar thickness,
+                             const Options& options) const;
+};
+
+}  // namespace Acts
diff --git a/Plugins/DD4hep/include/Acts/Plugins/DD4hep/ConvertDD4hepMaterial.hpp b/Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepMaterialHelpers.hpp
similarity index 100%
rename from Plugins/DD4hep/include/Acts/Plugins/DD4hep/ConvertDD4hepMaterial.hpp
rename to Plugins/DD4hep/include/Acts/Plugins/DD4hep/DD4hepMaterialHelpers.hpp
diff --git a/Plugins/DD4hep/src/ConvertDD4hepDetector.cpp b/Plugins/DD4hep/src/ConvertDD4hepDetector.cpp
index afcc80e89dc..b75e0951347 100644
--- a/Plugins/DD4hep/src/ConvertDD4hepDetector.cpp
+++ b/Plugins/DD4hep/src/ConvertDD4hepDetector.cpp
@@ -22,9 +22,9 @@
 #include "Acts/Geometry/TrackingVolumeArrayCreator.hpp"
 #include "Acts/Material/ISurfaceMaterial.hpp"
 #include "Acts/Material/ProtoSurfaceMaterial.hpp"
-#include "Acts/Plugins/DD4hep/ConvertDD4hepMaterial.hpp"
 #include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
 #include "Acts/Plugins/DD4hep/DD4hepLayerBuilder.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepMaterialHelpers.hpp"
 #include "Acts/Plugins/DD4hep/DD4hepVolumeBuilder.hpp"
 #include "Acts/Utilities/Logger.hpp"
 
diff --git a/Plugins/DD4hep/src/DD4hepDetectorElement.cpp b/Plugins/DD4hep/src/DD4hepDetectorElement.cpp
index f6be9a4041a..9070700cc13 100644
--- a/Plugins/DD4hep/src/DD4hepDetectorElement.cpp
+++ b/Plugins/DD4hep/src/DD4hepDetectorElement.cpp
@@ -22,9 +22,7 @@ class ISurfaceMaterial;
 
 Acts::DD4hepDetectorElement::DD4hepDetectorElement(
     const dd4hep::DetElement detElement, const std::string& axes, double scalor,
-    bool /*isDisc*/, std::shared_ptr<const Acts::ISurfaceMaterial> material,
-    const std::shared_ptr<
-        const Acts::DigitizationModule>& /*digitizationModule*/)
+    bool /*isDisc*/, std::shared_ptr<const Acts::ISurfaceMaterial> material)
     : Acts::TGeoDetectorElement(Identifier(detElement.volumeID()),
                                 *(detElement.placement().ptr()),
                                 detElement.nominal().worldTransformation(),
diff --git a/Plugins/DD4hep/src/DD4hepDetectorSurfaceFactory.cpp b/Plugins/DD4hep/src/DD4hepDetectorSurfaceFactory.cpp
new file mode 100644
index 00000000000..7cbadb4afe3
--- /dev/null
+++ b/Plugins/DD4hep/src/DD4hepDetectorSurfaceFactory.cpp
@@ -0,0 +1,142 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "Acts/Plugins/DD4hep/DD4hepDetectorSurfaceFactory.hpp"
+
+#include "Acts/Definitions/Units.hpp"
+#include "Acts/Material/HomogeneousSurfaceMaterial.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepBinningHelpers.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp"
+#include "Acts/Plugins/TGeo/TGeoMaterialConverter.hpp"
+#include "Acts/Plugins/TGeo/TGeoPrimitivesHelper.hpp"
+#include "Acts/Plugins/TGeo/TGeoSurfaceConverter.hpp"
+
+#include "DD4hep/DetElement.h"
+
+using namespace Acts::detail;
+
+Acts::DD4hepDetectorSurfaceFactory::DD4hepDetectorSurfaceFactory(
+    std::unique_ptr<const Logger> mlogger)
+    : m_logger(std::move(mlogger)) {
+  ACTS_DEBUG("UnitLength conversion factor (DD4hep -> Acts): " << unitLength);
+}
+
+void Acts::DD4hepDetectorSurfaceFactory::construct(
+    Cache& cache, const dd4hep::DetElement& dd4hepElement,
+    const Options& options) {
+  ACTS_DEBUG("Configured to convert "
+             << (options.convertSensitive ? "sensitive components and " : "")
+             << (options.convertPassive
+                     ? "passive surfaces."
+                     : (not options.convertSensitive
+                            ? "nothing (this is likely a configuration error)."
+                            : "")));
+  ACTS_DEBUG("Constructing DD4hepDetectorElements - tree level call from  "
+             << dd4hepElement.name() << ".");
+  recursiveConstruct(cache, dd4hepElement, options, 1);
+  ACTS_DEBUG("Recursive search did yield: "
+             << cache.sensitiveSurfaces.size() << " sensitive surface(s), "
+             << cache.passiveSurfaces.size() << " passive surface(s)");
+}
+
+void Acts::DD4hepDetectorSurfaceFactory::recursiveConstruct(
+    Cache& cache, const dd4hep::DetElement& dd4hepElement,
+    const Options& options, int level) {
+  ACTS_VERBOSE("Conversion call at level " << level << " for element "
+                                           << dd4hepElement.name());
+
+  // Check if any surface binnning can be detected
+  int sBinning = getParamOr<int>("acts_surface_binning_dim", dd4hepElement, 0);
+  if (sBinning > 0) {
+    cache.binnings = convertBinning(dd4hepElement, "acts_surface_binning");
+  }
+
+  // Deal with passive surface if detected
+  bool pSurface =
+      getParamOr<bool>("acts_passive_surface", dd4hepElement, false);
+  if (pSurface and options.convertPassive) {
+    ACTS_VERBOSE("Passive surface(s) detected.");
+    cache.passiveSurfaces.push_back(
+        constructPassiveComponents(dd4hepElement, options));
+  }
+
+  const dd4hep::DetElement::Children& children = dd4hepElement.children();
+  if (!children.empty()) {
+    ACTS_VERBOSE(children.size() << " child(ren) detected.");
+    for (auto& child : children) {
+      dd4hep::DetElement childDetElement = child.second;
+      ACTS_VERBOSE("Processing child " << childDetElement.name());
+      if (childDetElement.volume().isSensitive() and options.convertSensitive) {
+        ACTS_VERBOSE("Sensitive surface detected.");
+        cache.sensitiveSurfaces.push_back(
+            constructSensitiveComponents(childDetElement, options));
+      }
+      recursiveConstruct(cache, childDetElement, options, level + 1);
+    }
+  } else {
+    ACTS_VERBOSE("No children detected.");
+  }
+}
+
+Acts::DD4hepDetectorSurfaceFactory::DD4hepSensitiveSurface
+Acts::DD4hepDetectorSurfaceFactory::constructSensitiveComponents(
+    const dd4hep::DetElement& dd4hepElement, const Options& options) const {
+  // Extract the axis definition
+  std::string detAxis =
+      getParamOr<std::string>("axis_definitions", dd4hepElement, "XYZ");
+  std::shared_ptr<const Acts::ISurfaceMaterial> surfaceMaterial = nullptr;
+
+  // Create the corresponding detector element
+  auto dd4hepDetElement = std::make_shared<Acts::DD4hepDetectorElement>(
+      dd4hepElement, detAxis, unitLength, false, nullptr);
+  auto sSurface = dd4hepDetElement->surface().getSharedPtr();
+  attachSurfaceMaterial(dd4hepElement, *sSurface.get(),
+                        dd4hepDetElement->thickness(), options);
+  // return the surface
+  return {dd4hepDetElement, sSurface};
+}
+
+Acts::DD4hepDetectorSurfaceFactory::DD4hepPassiveSurface
+Acts::DD4hepDetectorSurfaceFactory::constructPassiveComponents(
+    const dd4hep::DetElement& dd4hepElement, const Options& options) const {
+  // Underlying TGeo node, shape & transform
+  const auto& tgeoNode = *(dd4hepElement.placement().ptr());
+  auto tgeoShape = tgeoNode.GetVolume()->GetShape();
+  const auto tgeoTransform = dd4hepElement.nominal().worldTransformation();
+  // Extract the axis definition
+  auto detAxis =
+      getParamOr<std::string>("axis_definitions", dd4hepElement, "XYZ");
+  bool assignToAll = getParamOr<bool>("assign_to_all", dd4hepElement, true);
+
+  auto [pSurface, thickness] =
+      TGeoSurfaceConverter::toSurface(*tgeoShape, tgeoTransform, detAxis);
+  attachSurfaceMaterial(dd4hepElement, *pSurface.get(), thickness, options);
+  // Return a passive surface
+  return {pSurface, assignToAll};
+}
+
+void Acts::DD4hepDetectorSurfaceFactory::attachSurfaceMaterial(
+    const dd4hep::DetElement& dd4hepElement, Acts::Surface& surface,
+    ActsScalar thickness, const Options& options) const {
+  if (options.convertMaterial) {
+    // Extract the material
+    const auto& tgeoNode = *(dd4hepElement.placement().ptr());
+    auto tgeoMaterial = tgeoNode.GetMedium()->GetMaterial();
+    // Convert the material
+    TGeoMaterialConverter::Options materialOptions;
+    materialOptions.unitLengthScalor = unitLength;
+    auto materialSlab = TGeoMaterialConverter::materialSlab(
+        *tgeoMaterial, thickness, options.surfaceMaterialThickness,
+        materialOptions);
+    auto surfaceMaterial =
+        std::make_shared<HomogeneousSurfaceMaterial>(materialSlab);
+    // Assign the material to the surface
+    surface.assignSurfaceMaterial(std::move(surfaceMaterial));
+  }
+}
diff --git a/Plugins/DD4hep/src/DD4hepLayerBuilder.cpp b/Plugins/DD4hep/src/DD4hepLayerBuilder.cpp
index d433dd69a4a..c1b59737e03 100644
--- a/Plugins/DD4hep/src/DD4hepLayerBuilder.cpp
+++ b/Plugins/DD4hep/src/DD4hepLayerBuilder.cpp
@@ -17,9 +17,9 @@
 #include "Acts/Geometry/Layer.hpp"
 #include "Acts/Geometry/LayerCreator.hpp"
 #include "Acts/Geometry/ProtoLayer.hpp"
-#include "Acts/Plugins/DD4hep/ConvertDD4hepMaterial.hpp"
 #include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
 #include "Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepMaterialHelpers.hpp"
 #include "Acts/Plugins/TGeo/TGeoPrimitivesHelper.hpp"
 #include "Acts/Surfaces/CylinderBounds.hpp"
 #include "Acts/Surfaces/RadialBounds.hpp"
@@ -392,7 +392,7 @@ Acts::DD4hepLayerBuilder::createSensitiveSurface(
   // Create the corresponding detector element !- memory leak --!
   Acts::DD4hepDetectorElement* dd4hepDetElement =
       new Acts::DD4hepDetectorElement(detElement, detAxis, UnitConstants::cm,
-                                      isDisc, nullptr, nullptr);
+                                      isDisc, nullptr);
 
   // return the surface
   return dd4hepDetElement->surface().getSharedPtr();
diff --git a/Plugins/DD4hep/src/ConvertDD4hepMaterial.cpp b/Plugins/DD4hep/src/DD4hepMaterialConverter.cpp
similarity index 99%
rename from Plugins/DD4hep/src/ConvertDD4hepMaterial.cpp
rename to Plugins/DD4hep/src/DD4hepMaterialConverter.cpp
index 230c0e5a537..2e6c5f3134f 100644
--- a/Plugins/DD4hep/src/ConvertDD4hepMaterial.cpp
+++ b/Plugins/DD4hep/src/DD4hepMaterialConverter.cpp
@@ -6,11 +6,10 @@
 // License, v. 2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#include "Acts/Plugins/DD4hep/ConvertDD4hepMaterial.hpp"
-
 #include "Acts/Geometry/ApproachDescriptor.hpp"
 #include "Acts/Geometry/Layer.hpp"
 #include "Acts/Material/ProtoSurfaceMaterial.hpp"
+#include "Acts/Plugins/DD4hep/ConvertDD4hepMaterial.hpp"
 #include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/BinUtility.hpp"
diff --git a/Plugins/DD4hep/src/DD4hepMaterialHelpers.cpp b/Plugins/DD4hep/src/DD4hepMaterialHelpers.cpp
new file mode 100644
index 00000000000..7039e188ada
--- /dev/null
+++ b/Plugins/DD4hep/src/DD4hepMaterialHelpers.cpp
@@ -0,0 +1,132 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2019 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "Acts/Plugins/DD4hep/DD4hepMaterialHelpers.hpp"
+
+#include "Acts/Geometry/ApproachDescriptor.hpp"
+#include "Acts/Geometry/Layer.hpp"
+#include "Acts/Material/ProtoSurfaceMaterial.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
+#include "Acts/Surfaces/Surface.hpp"
+#include "Acts/Utilities/BinUtility.hpp"
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <iterator>
+#include <ostream>
+
+#include <boost/foreach.hpp>
+#include <boost/tokenizer.hpp>
+
+std::shared_ptr<Acts::ProtoSurfaceMaterial> Acts::createProtoMaterial(
+    const dd4hep::rec::VariantParameters& params, const std::string& valueTag,
+    const std::vector<std::pair<const std::string, Acts::BinningOption> >&
+        binning,
+    const Logger& logger) {
+  using namespace std::string_literals;
+
+  // Create the bin utility
+  Acts::BinUtility bu;
+  // Loop over the bins
+  for (auto& bin : binning) {
+    // finding the iterator position to determine the binning value
+    auto bit = std::find(Acts::binningValueNames().begin(),
+                         Acts::binningValueNames().end(), bin.first);
+    size_t indx = std::distance(Acts::binningValueNames().begin(), bit);
+    Acts::BinningValue bval = Acts::BinningValue(indx);
+    Acts::BinningOption bopt = bin.second;
+    double min = 0.;
+    double max = 0.;
+    if (bopt == Acts::closed) {
+      min = -M_PI;
+      max = M_PI;
+    }
+    int bins = params.get<int>(valueTag + "_"s + bin.first);
+    ACTS_VERBOSE("  - material binning for " << bin.first << " on " << valueTag
+                                             << ": " << bins);
+    if (bins >= 1) {
+      bu += Acts::BinUtility(bins, min, max, bopt, bval);
+    }
+  }
+  return std::make_shared<Acts::ProtoSurfaceMaterial>(bu);
+}
+
+void Acts::addLayerProtoMaterial(
+    const dd4hep::rec::VariantParameters& params, Layer& layer,
+    const std::vector<std::pair<const std::string, Acts::BinningOption> >&
+        binning,
+    const Logger& logger) {
+  ACTS_VERBOSE("addLayerProtoMaterial");
+  // Start with the representing surface
+  std::vector<std::string> materialOptions = {"layer_material_representing"};
+  std::vector<const Surface*> materialSurfaces = {
+      &(layer.surfaceRepresentation())};
+  // Now fill (optionally) with the approach surfaces
+  auto aDescriptor = layer.approachDescriptor();
+  if (aDescriptor != nullptr and aDescriptor->containedSurfaces().size() >= 2) {
+    // Add the inner and outer approach surface
+    const std::vector<const Surface*>& aSurfaces =
+        aDescriptor->containedSurfaces();
+    materialOptions.push_back("layer_material_inner");
+    materialSurfaces.push_back(aSurfaces[0]);
+    materialOptions.push_back("layer_material_outer");
+    materialSurfaces.push_back(aSurfaces[1]);
+  }
+
+  // Now loop over it and create the ProtoMaterial
+  for (unsigned int is = 0; is < materialOptions.size(); ++is) {
+    // if (actsExtension.hasValue(materialOptions[is])) {
+    ACTS_VERBOSE(" - checking material for: " << materialOptions[is]);
+    if (params.contains(materialOptions[is])) {
+      ACTS_VERBOSE(" - have material");
+      // Create the material and assign it
+      auto psMaterial =
+          createProtoMaterial(params, materialOptions[is], binning, logger);
+      // const_cast (ugly - to be changed after internal geometry stored
+      // non-const)
+      Surface* surface = const_cast<Surface*>(materialSurfaces[is]);
+      surface->assignSurfaceMaterial(psMaterial);
+    }
+  }
+}
+
+void Acts::addCylinderLayerProtoMaterial(dd4hep::DetElement detElement,
+                                         Layer& cylinderLayer,
+                                         const Logger& logger) {
+  ACTS_VERBOSE(
+      "Translating DD4hep material into Acts material for CylinderLayer : "
+      << detElement.name());
+  if (hasParams(detElement)) {
+    ACTS_VERBOSE(" params: " << getParams(detElement));
+  } else {
+    ACTS_VERBOSE(" NO params");
+  }
+  if (getParamOr<bool>("layer_material", detElement, false)) {
+    addLayerProtoMaterial(getParams(detElement), cylinderLayer,
+                          {{"binPhi", Acts::closed}, {"binZ", Acts::open}},
+                          logger);
+  }
+}
+
+void Acts::addDiscLayerProtoMaterial(dd4hep::DetElement detElement,
+                                     Layer& discLayer, const Logger& logger) {
+  ACTS_VERBOSE("Translating DD4hep material into Acts material for DiscLayer : "
+               << detElement.name());
+
+  if (hasParams(detElement)) {
+    ACTS_VERBOSE(" params: " << getParams(detElement));
+  } else {
+    ACTS_VERBOSE(" NO params");
+  }
+  if (getParamOr<bool>("layer_material", detElement, false)) {
+    addLayerProtoMaterial(getParams(detElement), discLayer,
+                          {{"binPhi", Acts::closed}, {"binR", Acts::open}},
+                          logger);
+  }
+}
diff --git a/Tests/UnitTests/Plugins/CMakeLists.txt b/Tests/UnitTests/Plugins/CMakeLists.txt
index 6f4ee2c9bfa..6bf5098f243 100644
--- a/Tests/UnitTests/Plugins/CMakeLists.txt
+++ b/Tests/UnitTests/Plugins/CMakeLists.txt
@@ -1,5 +1,6 @@
 add_subdirectory_if(ActSVG ACTS_BUILD_PLUGIN_ACTSVG)
 add_subdirectory_if(Cuda ACTS_BUILD_PLUGIN_CUDA)
+add_subdirectory_if(DD4hep ACTS_BUILD_PLUGIN_DD4HEP)
 add_subdirectory_if(ExaTrkX ACTS_BUILD_PLUGIN_EXATRKX)
 add_subdirectory_if(Geant4 ACTS_BUILD_PLUGIN_GEANT4)
 add_subdirectory_if(Json ACTS_BUILD_PLUGIN_JSON)
diff --git a/Tests/UnitTests/Plugins/DD4hep/CMakeLists.txt b/Tests/UnitTests/Plugins/DD4hep/CMakeLists.txt
new file mode 100644
index 00000000000..2aee55cdae7
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/CMakeLists.txt
@@ -0,0 +1,45 @@
+add_library(
+    ActsTestsDD4hepFactories SHARED
+    DD4hepTestsHelper.cpp
+    LayerFactory.cpp
+    PrimitivesFactory.cpp)
+
+target_include_directories(
+    ActsTestsDD4hepFactories
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
+target_link_libraries(
+    ActsTestsDD4hepFactories PUBLIC ActsPluginDD4hep DD4hep::DDCore)
+
+# Not sure why this needs to be set, but dd4hep fails to compile otherwise
+set(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR})
+set_target_properties(ActsTestsDD4hepFactories PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+dd4hep_set_version(ActsTestsDD4hepFactories MAJOR 1 MINOR 0 PATCH 0)
+dd4hep_generate_rootmap(ActsTestsDD4hepFactories)
+
+find_library(dd4hep_core_plugins_library DDCorePlugins REQUIRED)
+cmake_path(GET dd4hep_core_plugins_library PARENT_PATH DD4HEP_LIBRARY_PATH)
+
+if(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.24.0") 
+  set(factory_path "$<PATH:GET_PARENT_PATH,$<TARGET_FILE:ActsTestsDD4hepFactories>>")
+else()
+  set(factory_path "${CMAKE_CURRENT_BINARY_DIR}")
+endif()
+
+if (EXISTS ${DD4hep_DIR}/${CMAKE_INSTALL_LIBDIR})
+  # set test library dependencies
+  set(unittest_extra_libraries ActsTestsDD4hepFactories ActsPluginDD4hep)
+  set(dd4hep_tests DD4hepDetectorElement)
+  foreach(_test ${dd4hep_tests})
+    add_unittest(${_test} ${_test}Tests.cpp)
+    add_dependencies(ActsUnitTest${_test} Components_ActsTestsDD4hepFactories)
+    if(APPLE)
+      set_property(TEST ${_test} PROPERTY ENVIRONMENT 
+        "DYLD_LIBRARY_PATH=${DD4HEP_LIBRARY_PATH}:${factory_path}") 
+    else()
+      set_property(TEST ${_test} PROPERTY ENVIRONMENT 
+        "LD_LIBRARY_PATH=${DD4HEP_LIBRARY_PATH}:${factory_path}")
+    endif()
+  endforeach()
+else()
+    message(WARNING "DD4hep libraries not found under ${DD4hep_DIR}/${CMAKE_INSTALL_LIBDIR}, DD4hep tests will not be built.")
+endif()
\ No newline at end of file
diff --git a/Tests/UnitTests/Plugins/DD4hep/DD4hepDetectorElementTests.cpp b/Tests/UnitTests/Plugins/DD4hep/DD4hepDetectorElementTests.cpp
new file mode 100644
index 00000000000..74dd7b36543
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/DD4hepDetectorElementTests.cpp
@@ -0,0 +1,310 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include <boost/test/unit_test.hpp>
+
+#include "Acts/Definitions/Algebra.hpp"
+#include "Acts/Geometry/GeometryContext.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepDetectorElement.hpp"
+#include "Acts/Surfaces/Surface.hpp"
+#include "Acts/Tests/CommonHelpers/FloatComparisons.hpp"
+
+#include <fstream>
+#include <iostream>
+
+#include <DD4hep/DetElement.h>
+#include <DD4hep/Detector.h>
+
+#include "DD4hep/DetFactoryHelper.h"
+#include "XML/Utilities.h"
+#include "XMLFragments.hpp"
+
+Acts::GeometryContext tContext;
+
+const char* cylinder_xml =
+    R""""(
+    <detectors>
+        <detector id="1" name="Cylinder" type="Cylinder">
+            <type_flags type="DetType_TRACKER"/>
+            <tubs name="Cylinder" rmin="10*cm" rmax="11*cm" dz="100*cm" material="Vacuum" sensitive="true"/>
+        </detector>
+    </detectors>
+)"""";
+
+const char* sectoral_cylinder_xml =
+    R""""(
+    <detectors>
+        <detector id="1" name="SectoralCylinder" type="Cylinder">
+            <type_flags type="DetType_TRACKER"/>
+            <tubs name="Cylinder" rmin="10*cm" rmax="11*cm" dz="100*cm" phimin="0.1*rad" phimax="0.8*rad" material="Vacuum" sensitive="true"/>
+        </detector>
+    </detectors>
+)"""";
+
+const char* disc_xml =
+    R""""(
+    <detectors>
+        <detector id="1" name="Disc" type="Disc">
+            <type_flags type="DetType_TRACKER"/>
+            <tubs name="Disc" rmin="10*cm" rmax="90*cm" dz="1*cm" material="Vacuum" sensitive="true"/>
+        </detector>
+    </detectors>
+)"""";
+
+const char* sectoral_disc_xml =
+    R""""(
+    <detectors>
+        <detector id="1" name="SectoralDisc" type="Disc">
+            <type_flags type="DetType_TRACKER"/>
+            <tubs name="Disc" rmin="10*cm" rmax="90*cm" dz="1*cm" phimin="0.*rad" phimax="1.5*rad" material="Vacuum" sensitive="true"/>
+        </detector>
+    </detectors>
+)"""";
+
+const char* rectangle_xml =
+    R""""(
+    <detectors>
+        <detector id="1" name="Rectangle" type="Rectangle">
+            <type_flags type="DetType_TRACKER"/>
+            <box name="Rectangle" dx="10*cm" dy="90*cm" dz="0.1*cm" cx="1.*cm" cy="2.*cm" cz="3.*cm" material="Vacuum" sensitive="true"/>
+        </detector>
+    </detectors>
+)"""";
+
+const char* trapezoid_xml =
+    R""""(
+    <detectors>
+        <detector id="1" name="Trapezoid" type="Trapezoid">
+            <type_flags type="DetType_TRACKER"/>
+            <trap name="Trapezoid" x1="10*cm" x2="20*cm" dy="30*cm" dz="0.1*cm" cx="2.*cm" cy="3.*cm" cz="4.*cm" material="Vacuum" sensitive="true"/>
+        </detector>
+    </detectors>
+)"""";
+
+BOOST_AUTO_TEST_SUITE(DD4hepPlugin)
+
+BOOST_AUTO_TEST_CASE(DD4hepPluginDetectorElementCylinder) {
+  std::ofstream cxml;
+  cxml.open("Cylinder.xml");
+  cxml << head_xml;
+  cxml << cylinder_xml;
+  cxml << end_xml;
+  cxml.close();
+
+  auto lcdd = &(dd4hep::Detector::getInstance());
+  lcdd->fromCompact("Cylinder.xml");
+  lcdd->volumeManager();
+  lcdd->apply("DD4hepVolumeManager", 0, nullptr);
+
+  auto world = lcdd->world();
+
+  std::shared_ptr<Acts::DD4hepDetectorElement> cylindricalElement = nullptr;
+  for (auto [chn, child] : world.children()) {
+    cylindricalElement =
+        std::make_shared<Acts::DD4hepDetectorElement>(child, "XYZ", 10.);
+  }
+
+  BOOST_CHECK(cylindricalElement != nullptr);
+
+  const auto& surface = cylindricalElement->surface();
+  BOOST_CHECK(surface.type() == Acts::Surface::SurfaceType::Cylinder);
+  BOOST_CHECK(
+      surface.transform(tContext).isApprox(Acts::Transform3::Identity()));
+  auto boundValues = surface.bounds().values();
+  CHECK_CLOSE_ABS(boundValues[0u], 105., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[1u], 1000., 1e-10);
+  lcdd->destroyInstance();
+}
+
+BOOST_AUTO_TEST_CASE(DD4hepPluginDetectorElementSectoralCylinder) {
+  std::ofstream cxml;
+  cxml.open("SectoralCylinder.xml");
+  cxml << head_xml;
+  cxml << sectoral_cylinder_xml;
+  cxml << end_xml;
+  cxml.close();
+
+  auto lcdd = &(dd4hep::Detector::getInstance());
+  lcdd->fromCompact("SectoralCylinder.xml");
+  lcdd->volumeManager();
+  lcdd->apply("DD4hepVolumeManager", 0, nullptr);
+
+  auto world = lcdd->world();
+
+  std::shared_ptr<Acts::DD4hepDetectorElement> cylindricalElement = nullptr;
+  for (auto [chn, child] : world.children()) {
+    cylindricalElement =
+        std::make_shared<Acts::DD4hepDetectorElement>(child, "XYZ", 10.);
+  }
+
+  BOOST_CHECK(cylindricalElement != nullptr);
+
+  const auto& surface = cylindricalElement->surface();
+  BOOST_CHECK(surface.type() == Acts::Surface::SurfaceType::Cylinder);
+  BOOST_CHECK(
+      surface.transform(tContext).isApprox(Acts::Transform3::Identity()));
+  auto boundValues = surface.bounds().values();
+  CHECK_CLOSE_ABS(boundValues[0u], 105., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[1u], 1000., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[2u], 0.35, 1e-10);
+  CHECK_CLOSE_ABS(boundValues[3u], 0.45, 1e-10);
+  lcdd->destroyInstance();
+}
+
+BOOST_AUTO_TEST_CASE(DD4hepPluginDetectorElementDisc) {
+  std::ofstream cxml;
+  cxml.open("Disc.xml");
+  cxml << head_xml;
+  cxml << disc_xml;
+  cxml << end_xml;
+  cxml.close();
+
+  auto lcdd = &(dd4hep::Detector::getInstance());
+  lcdd->fromCompact("Disc.xml");
+  lcdd->volumeManager();
+  lcdd->apply("DD4hepVolumeManager", 0, nullptr);
+
+  auto world = lcdd->world();
+
+  std::shared_ptr<Acts::DD4hepDetectorElement> discElement = nullptr;
+  for (auto [chn, child] : world.children()) {
+    discElement =
+        std::make_shared<Acts::DD4hepDetectorElement>(child, "XYZ", 10., true);
+  }
+
+  BOOST_CHECK(discElement != nullptr);
+
+  const auto& surface = discElement->surface();
+  BOOST_CHECK(surface.type() == Acts::Surface::SurfaceType::Disc);
+  BOOST_CHECK(
+      surface.transform(tContext).isApprox(Acts::Transform3::Identity()));
+  auto boundValues = surface.bounds().values();
+  CHECK_CLOSE_ABS(boundValues[0u], 100., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[1u], 900., 1e-10);
+  lcdd->destroyInstance();
+}
+
+BOOST_AUTO_TEST_CASE(DD4hepPluginDetectorElementSectoralDisc) {
+  std::ofstream cxml;
+  cxml.open("SectoralDisc.xml");
+  cxml << head_xml;
+  cxml << sectoral_disc_xml;
+  cxml << end_xml;
+  cxml.close();
+
+  auto lcdd = &(dd4hep::Detector::getInstance());
+  lcdd->fromCompact("SectoralDisc.xml");
+  lcdd->volumeManager();
+  lcdd->apply("DD4hepVolumeManager", 0, nullptr);
+
+  auto world = lcdd->world();
+
+  std::shared_ptr<Acts::DD4hepDetectorElement> discElement = nullptr;
+  for (auto [chn, child] : world.children()) {
+    discElement =
+        std::make_shared<Acts::DD4hepDetectorElement>(child, "XYZ", 10., true);
+  }
+
+  BOOST_CHECK(discElement != nullptr);
+
+  const auto& surface = discElement->surface();
+  BOOST_CHECK(surface.type() == Acts::Surface::SurfaceType::Disc);
+  BOOST_CHECK(
+      surface.transform(tContext).isApprox(Acts::Transform3::Identity()));
+  auto boundValues = surface.bounds().values();
+
+  CHECK_CLOSE_ABS(boundValues[0u], 100., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[1u], 900., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[2u], 0.75, 1e-10);
+  CHECK_CLOSE_ABS(boundValues[3u], 0.75, 1e-10);
+  lcdd->destroyInstance();
+}
+
+BOOST_AUTO_TEST_CASE(DD4hepPluginDetectorElementRectangle) {
+  std::ofstream cxml;
+  cxml.open("Rectangle.xml");
+  cxml << head_xml;
+  cxml << rectangle_xml;
+  cxml << end_xml;
+  cxml.close();
+
+  auto lcdd = &(dd4hep::Detector::getInstance());
+  lcdd->fromCompact("Rectangle.xml");
+  lcdd->volumeManager();
+  lcdd->apply("DD4hepVolumeManager", 0, nullptr);
+
+  auto world = lcdd->world();
+
+  std::shared_ptr<Acts::DD4hepDetectorElement> rectangleElement = nullptr;
+  for (auto [chn, child] : world.children()) {
+    rectangleElement =
+        std::make_shared<Acts::DD4hepDetectorElement>(child, "XYZ", 10., true);
+  }
+
+  BOOST_CHECK(rectangleElement != nullptr);
+
+  const auto& surface = rectangleElement->surface();
+  BOOST_CHECK(surface.type() == Acts::Surface::SurfaceType::Plane);
+
+  auto sTransform = surface.transform(tContext);
+  BOOST_CHECK(sTransform.translation().isApprox(Acts::Vector3(10., 20., 30.)));
+
+  const auto& sBounds = surface.bounds();
+  BOOST_CHECK(sBounds.type() == Acts::SurfaceBounds::BoundsType::eRectangle);
+
+  auto boundValues = sBounds.values();
+
+  CHECK_CLOSE_ABS(boundValues[0u], -50., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[1u], -450., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[2u], 50, 1e-10);
+  CHECK_CLOSE_ABS(boundValues[3u], 450, 1e-10);
+
+  lcdd->destroyInstance();
+}
+
+BOOST_AUTO_TEST_CASE(DD4hepPluginDetectorElementTrapezoid) {
+  std::ofstream cxml;
+  cxml.open("Trapezoid.xml");
+  cxml << head_xml;
+  cxml << trapezoid_xml;
+  cxml << end_xml;
+  cxml.close();
+
+  auto lcdd = &(dd4hep::Detector::getInstance());
+  lcdd->fromCompact("Trapezoid.xml");
+  lcdd->volumeManager();
+  lcdd->apply("DD4hepVolumeManager", 0, nullptr);
+
+  auto world = lcdd->world();
+
+  std::shared_ptr<Acts::DD4hepDetectorElement> trapezoidElement = nullptr;
+  for (auto [chn, child] : world.children()) {
+    trapezoidElement =
+        std::make_shared<Acts::DD4hepDetectorElement>(child, "xZ", 10., true);
+  }
+
+  BOOST_CHECK(trapezoidElement != nullptr);
+
+  const auto& surface = trapezoidElement->surface();
+  BOOST_CHECK(surface.type() == Acts::Surface::SurfaceType::Plane);
+
+  auto sTransform = surface.transform(tContext);
+  BOOST_CHECK(sTransform.translation().isApprox(Acts::Vector3(20., 30., 40.)));
+
+  const auto& sBounds = surface.bounds();
+  BOOST_CHECK(sBounds.type() == Acts::SurfaceBounds::BoundsType::eTrapezoid);
+
+  auto boundValues = sBounds.values();
+  CHECK_CLOSE_ABS(boundValues[0u], 100., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[1u], 200., 1e-10);
+  CHECK_CLOSE_ABS(boundValues[2u], 150, 1e-10);
+
+  lcdd->destroyInstance();
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.cpp b/Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.cpp
new file mode 100644
index 00000000000..1df624057bd
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.cpp
@@ -0,0 +1,102 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "DD4hepTestsHelper.hpp"
+
+#include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
+#include "Acts/Surfaces/Surface.hpp"
+
+dd4hep::Transform3D DD4hepTestsHelper::createTransform(
+    const xml_comp_t& x_det_comp) {
+  // Build the transform - center def
+  double cx = Acts::getAttrValueOr<double>(x_det_comp, "cx", 0.);
+  double cy = Acts::getAttrValueOr<double>(x_det_comp, "cy", 0.);
+  double cz = Acts::getAttrValueOr<double>(x_det_comp, "cz", 0.);
+
+  double xx = Acts::getAttrValueOr<double>(x_det_comp, "xx", 1.);
+  double xy = Acts::getAttrValueOr<double>(x_det_comp, "xy", 0.);
+  double xz = Acts::getAttrValueOr<double>(x_det_comp, "xz", 0.);
+
+  double yx = Acts::getAttrValueOr<double>(x_det_comp, "yx", 0.);
+  double yy = Acts::getAttrValueOr<double>(x_det_comp, "yy", 1.);
+  double yz = Acts::getAttrValueOr<double>(x_det_comp, "yz", 0.);
+
+  Position xAxis(xx, xy, xz);
+  Position yAxis(yx, yy, yz);
+  Position zAxis = xAxis.Cross(yAxis);
+  double zx = zAxis.X();
+  double zy = zAxis.Y();
+  double zz = zAxis.Z();
+
+  // Create the transform
+  return Transform3D(xx, yx, zx, cx, xy, yy, zy, cy, xz, yz, zz, cz);
+}
+
+std::string DD4hepTestsHelper::transformToXML(const Acts::Transform3& tf,
+                                              const std::array<int, 2u>& axes) {
+  auto tr = tf.translation();
+  auto rot = tf.rotation();
+
+  std::stringstream sxml;
+  sxml << "cx=\"" << tr[0u] << "*mm\" ";
+  sxml << "cy=\"" << tr[1u] << "*mm\" ";
+  sxml << "cz=\"" << tr[2u] << "*mm\" ";
+
+  sxml << "xx=\"" << rot.col(axes[0u])[0u] << "\" ";
+  sxml << "xy=\"" << rot.col(axes[0u])[1u] << "\" ";
+  sxml << "xz=\"" << rot.col(axes[0u])[2u] << "\" ";
+  sxml << "yx=\"" << rot.col(axes[1u])[0u] << "\" ";
+  sxml << "yy=\"" << rot.col(axes[1u])[1u] << "\" ";
+  sxml << "yz=\"" << rot.col(axes[1u])[2u] << "\" ";
+
+  return sxml.str();
+}
+
+std::string DD4hepTestsHelper::surfaceToXML(const Acts::GeometryContext& gctx,
+                                            const Acts::Surface& surface,
+                                            const Acts::Transform3& ref) {
+  // The xml to be translated
+  std::stringstream sxml;
+  auto boundValues = surface.bounds().values();
+
+  std::array<int, 2u> axes = {0, 1};
+  // Change/adapt the behavior
+  switch (surface.bounds().type()) {
+    case Acts::SurfaceBounds::eRectangle: {
+      sxml << "<box ";
+      double dx = (boundValues[2u] - boundValues[0u]);
+      double dy = (boundValues[3u] - boundValues[1u]);
+      double dz = 0.125;
+      sxml << "dx=\"" << dx << "*mm\" ";
+      sxml << "dy=\"" << dy << "*mm\" ";
+      sxml << "dz=\"" << dz << "*mm\" ";
+    }; break;
+    case Acts::SurfaceBounds::eTrapezoid: {
+      axes = {2, 0};
+
+      sxml << "<trap ";
+      double hxmin = boundValues[0u];
+      double hxmax = boundValues[1u];
+      double dy = 2 * boundValues[2u];
+      double dz = 0.125;
+      sxml << "x1=\"" << hxmin << "*mm\" ";
+      sxml << "x2=\"" << hxmax << "*mm\" ";
+      sxml << "dy=\"" << dy << "*mm\" ";
+      sxml << "dz=\"" << dz << "*mm\" ";
+    }; break;
+    default:
+      break;
+  }
+
+  // Unwind the placement you have already
+  auto relTransform = ref * surface.transform(gctx);
+  sxml << transformToXML(relTransform, axes);
+  sxml << " material=\"Air\"";
+  sxml << " sensitive=\"true\"/>";
+  return sxml.str();
+}
diff --git a/Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.hpp b/Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.hpp
new file mode 100644
index 00000000000..ef0e5d81fee
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/DD4hepTestsHelper.hpp
@@ -0,0 +1,73 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include "Acts/Definitions/Algebra.hpp"
+#include "Acts/Geometry/GeometryContext.hpp"
+
+#include <string>
+
+#include <DD4hep/DetFactoryHelper.h>
+#include <DD4hep/Objects.h>
+#include <XML/Utilities.h>
+
+using namespace std;
+using namespace dd4hep;
+
+namespace Acts {
+class Surface;
+}  // namespace Acts
+
+namespace DD4hepTestsHelper {
+
+/// @brief helper to ensure that an extension is set,
+/// copied from the ODD detector code
+///
+/// @tparam T the type of the extension
+/// @param elt the detector element
+/// @return the extracted/created extennsion
+template <typename T>
+T& ensureExtension(dd4hep::DetElement& elt) {
+  T* ext = elt.extension<T>(false);
+  if (ext == nullptr) {
+    ext = new T();
+  }
+  elt.addExtension<T>(ext);
+  return *ext;
+}
+
+/// Helper method to create a Transform3D from an xml detector
+/// component
+///
+/// @param x_det_comp the xml detector component
+///
+/// @return a Transform3D (DD4hep type, aka ROOT::Math type)
+Transform3D createTransform(const xml_comp_t& x_det_comp);
+
+/// Helper method to convert an ACTS transform into XML
+///
+/// @param tf the transform in ACTS format
+/// @param axes the identification which axes are building the local frame
+///
+/// @return a string representing the XML entry
+std::string transformToXML(const Acts::Transform3& tf,
+                           const std::array<int, 2u>& axes = {0, 1});
+
+/// @brief  Helper method to convert a Surface into XML
+///
+/// @param gctx the geometry context of this call
+/// @param surface the surface from ACTS to be written
+/// @param ref the reference transform
+///
+/// @return a string representing the XML entry
+std::string surfaceToXML(const Acts::GeometryContext& gctx,
+                         const Acts::Surface& surface,
+                         const Acts::Transform3& ref);
+
+}  // namespace DD4hepTestsHelper
diff --git a/Tests/UnitTests/Plugins/DD4hep/LayerFactory.cpp b/Tests/UnitTests/Plugins/DD4hep/LayerFactory.cpp
new file mode 100644
index 00000000000..e4cb71c0d2a
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/LayerFactory.cpp
@@ -0,0 +1,268 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2022 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "Acts/Geometry/VolumeBounds.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepBinningHelpers.hpp"
+#include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
+#include "Acts/Utilities/Logger.hpp"
+
+#include <DD4hep/DetFactoryHelper.h>
+#include <DD4hep/Objects.h>
+#include <DDRec/DetectorData.h>
+#include <XML/Utilities.h>
+
+#include "DD4hepTestsHelper.hpp"
+
+using namespace std;
+using namespace dd4hep;
+
+/// @brief  Helper method to add a layer to the detector
+///
+/// @param dd the detector to which this is added
+/// @param dAssembly the detector assembly
+/// @param x_layer the xml element describing the layer
+/// @param sens the sensitive detector to be used
+/// @param layerID the layer identification number
+DetElement addCylinderLayer(Detector &dd, Assembly &dAssembly,
+                            const xml_comp_t &x_layer, SensitiveDetector sens,
+                            int layerID = 0) {
+  // Make the cylinder detector element
+  auto layerName = x_layer.nameStr();
+  DetElement layerElement(layerName, layerID);
+  // Layer parameters
+  auto &layerParams =
+      DD4hepTestsHelper::ensureExtension<dd4hep::rec::VariantParameters>(
+          layerElement);
+
+  // The layer Assembly
+  Assembly layerAssembly(layerName + std::to_string(layerID));
+  layerAssembly.setVisAttributes(dd, x_layer.visStr());
+  // Check if a volume definition is present
+  if (x_layer.hasChild(_Unicode(acts_volume))) {
+    xml_comp_t acts_volume = x_layer.child(_Unicode(acts_volume));
+    layerParams.set<bool>("acts_volume", true);
+    if (acts_volume.hasChild(_U(tubs))) {
+      xml_comp_t acts_tubs = acts_volume.child(_Unicode(tubs));
+      layerParams.set<int>("acts_volume_type",
+                           int(Acts::VolumeBounds::BoundsType::eCylinder));
+      layerParams.set<int>("acts_volume_bvalues_n", 3);
+      layerParams.set<double>("acts_volume_bvalues_0", acts_tubs.rmin());
+      layerParams.set<double>("acts_volume_bvalues_1", acts_tubs.rmax());
+      layerParams.set<double>("acts_volume_bvalues_2", 0.5 * acts_tubs.dz());
+    }
+  }
+
+  // Active layer surfaces - Count and fill the sensors
+  if (x_layer.hasChild(_Unicode(modules))) {
+    // Check if the cylinder has a surface binning instruction
+    if (x_layer.hasChild(_Unicode(acts_surface_binning))) {
+      xml_comp_t sfBinning = x_layer.child(_Unicode(acts_surface_binning));
+      Acts::decodeBinning(layerParams, sfBinning, "acts_surface_binning",
+                          {"z", "phi"});
+    }
+    // Go through the sensors
+    unsigned int sensorID = 1u;
+    xml_comp_t x_det_modules = x_layer.child(_Unicode(modules));
+    for (xml_coll_t bmodule(x_det_modules, _U(box)); bmodule != nullptr;
+         ++bmodule) {
+      xml_comp_t x_det_box = bmodule;
+
+      // Due to convention this causes an axis flip on x
+      Box boxShape(0.5 * x_det_box.dx(), 0.5 * x_det_box.dy(),
+                   0.5 * x_det_box.dz());
+
+      // Set an orientation
+      DetElement boxElement(layerName + "_module" + std::to_string(sensorID),
+                            sensorID);
+
+      Volume boxVolume(layerName, boxShape,
+                       dd.material(x_det_box.materialStr()));
+      boxVolume.setVisAttributes(dd, x_det_box.visStr());
+      boxVolume.setSensitiveDetector(sens);
+
+      PlacedVolume placedBox = layerAssembly.placeVolume(
+          boxVolume, DD4hepTestsHelper::createTransform(x_det_box));
+
+      placedBox.addPhysVolID("sensor", sensorID++);
+      boxElement.setPlacement(placedBox);
+      // Add the module elements
+      layerElement.add(boxElement);
+    }
+  }
+  // Passive layer surface - place it inside the envelope
+  for (xml_coll_t psurface(x_layer, _Unicode(acts_passive_surface));
+       psurface != nullptr; ++psurface) {
+    xml_comp_t x_passive_xml = psurface;
+    // Direct definition of a child surface
+    if (x_passive_xml.hasChild(_Unicode(tubs))) {
+      xml_comp_t x_tubs_t = x_passive_xml.child(_Unicode(tubs));
+      // Crete the corresponding detector element
+      DetElement passiveElement(layerName + "_passiveEl", x_layer.id());
+      Tube passiveShape(layerName + "_shape", x_tubs_t.rmin(), x_tubs_t.rmax(),
+                        x_tubs_t.dz());
+      Volume passiveVolume(layerName + "_volume", passiveShape,
+                           dd.material(x_tubs_t.materialStr()));
+      passiveVolume.setVisAttributes(dd, x_layer.visStr());
+      // The places layer after all
+      PlacedVolume placedPassive = layerAssembly.placeVolume(
+          passiveVolume, DD4hepTestsHelper::createTransform(x_passive_xml));
+      // Transport the passive surface knowledge
+      auto &params =
+          DD4hepTestsHelper::ensureExtension<dd4hep::rec::VariantParameters>(
+              passiveElement);
+      params.set<bool>("acts_passive_surface", true);
+      // Set the placement and add
+      passiveElement.setPlacement(placedPassive);
+      // Add the module elements
+      layerElement.add(passiveElement);
+    }
+  }
+
+  auto placedLayer = dAssembly.placeVolume(layerAssembly);
+  placedLayer.addPhysVolID("layer", layerID);
+  layerElement.setPlacement(placedLayer);
+  // Return the layer element
+  return layerElement;
+}
+
+/// Standard create_barrel_detector(...) create a barrel
+/// like detector
+///
+/// @param dd the detector to which this is addedded
+/// @param xml the input xml element
+/// @param sens is ignored
+///
+/// @return a reference counted DetElement
+static Ref_t create_barrel_detector(Detector &dd, xml_h xml,
+                                    SensitiveDetector sens) {
+  xml_det_t x_det = xml;
+  string detName = x_det.nameStr();
+
+  // create the master detector element
+  DetElement detectorElement(detName, x_det.id());
+  dd4hep::xml::setDetectorTypeFlag(xml, detectorElement);
+
+  // The Shape and Volume
+  Assembly detectorAssembly(detName);
+  detectorAssembly.setVisAttributes(dd, x_det.visStr());
+
+  // Add layers if they exist as such
+  if (x_det.hasChild(_Unicode(layers))) {
+    xml_comp_t x_det_layers = x_det.child(_Unicode(layers));
+    int layerID = 0;
+    for (xml_coll_t layer(x_det_layers, _Unicode(layer)); layer != nullptr;
+         ++layer) {
+      xml_comp_t x_det_layer = layer;
+      auto layerElement =
+          addCylinderLayer(dd, detectorAssembly, x_det_layer, sens, layerID++);
+      // Add is to the detector element
+      detectorElement.add(layerElement);
+    }
+  }
+  // Place it into the mother volume
+  Volume motherVolume = dd.pickMotherVolume(detectorElement);
+  Position translation(0., 0., 0.);
+  PlacedVolume placedDetector =
+      motherVolume.placeVolume(detectorAssembly, translation);
+  // "system" is hard coded in the DD4Hep::VolumeManager
+  placedDetector.addPhysVolID("system", x_det.id());
+  detectorElement.setPlacement(placedDetector);
+
+  // return this element
+  return detectorElement;
+}
+
+DECLARE_DETELEMENT(BarrelDetector, create_barrel_detector)
+
+/// Standard create_cylinder(...) create a simple disc layer
+///
+/// @param dd the detector to which this is addedded
+/// @param xml the input xml element
+/// @param sens is ignored
+///
+/// @return a reference counted DetElement
+static Ref_t create_disc_layer(Detector &dd, xml_h xml,
+                               SensitiveDetector sens) {
+  xml_det_t x_det = xml;
+  string detName = x_det.nameStr();
+
+  xml_comp_t x_det_env = x_det.child(_Unicode(envelope));
+
+  // Make DetElement
+  DetElement discLayerElement(detName, x_det.id());
+  dd4hep::xml::setDetectorTypeFlag(xml, discLayerElement);
+
+  auto &layerParams =
+      DD4hepTestsHelper::ensureExtension<dd4hep::rec::VariantParameters>(
+          discLayerElement);
+
+  // Check if the disk has a surface binning instruction
+  if (x_det.hasChild(_Unicode(acts_surface_binning))) {
+    xml_comp_t sfBinning = x_det.child(_Unicode(acts_surface_binning));
+    Acts::decodeBinning(layerParams, sfBinning, "acts_surface_binning",
+                        {"r", "phi"});
+  }
+
+  // Create the envelope
+  DetElement envelopeElement(detName + "_envelope", x_det.id());
+  Tube envelopeShape(detName + "_shape", x_det_env.rmin(), x_det_env.rmax(),
+                     x_det_env.dz());
+  Volume envelopeVolume(detName, envelopeShape,
+                        dd.material(x_det_env.materialStr()));
+  envelopeVolume.setVisAttributes(dd, x_det.visStr());
+
+  // Active layer ...
+  //
+  // Count and fill the sensors
+  if (x_det.hasChild(_Unicode(modules))) {
+    unsigned int sensorID = 1u;
+    xml_comp_t x_det_modules = x_det.child(_Unicode(modules));
+
+    for (xml_coll_t bmodule(x_det_modules, _U(trap)); bmodule != nullptr;
+         ++bmodule) {
+      xml_comp_t x_det_trap = bmodule;
+
+      // Due to convention this causes an axis flip on x
+      Trapezoid trapShape(0.5 * x_det_trap.dz(), 0.5 * x_det_trap.dz(),
+                          x_det_trap.x1(), x_det_trap.x2(),
+                          0.5 * x_det_trap.dy());
+
+      // Set an orientation
+      DetElement trapElement(detName + "_module" + std::to_string(sensorID),
+                             sensorID);
+      auto &params =
+          DD4hepTestsHelper::ensureExtension<dd4hep::rec::VariantParameters>(
+              trapElement);
+      params.set<std::string>("axis_definitions", "YZ");
+
+      Volume trapVolume(detName, trapShape,
+                        dd.material(x_det_trap.materialStr()));
+      trapVolume.setVisAttributes(dd, x_det.visStr());
+      trapVolume.setSensitiveDetector(sens);
+
+      PlacedVolume placedTrap = envelopeVolume.placeVolume(
+          trapVolume, DD4hepTestsHelper::createTransform(x_det_trap));
+
+      placedTrap.addPhysVolID("sensor", sensorID++);
+      trapElement.setPlacement(placedTrap);
+      // Add the module elements
+      discLayerElement.add(trapElement);
+    }
+  }
+
+  // Place the envelope into mother
+  Volume motherVolume = dd.pickMotherVolume(discLayerElement);
+  PlacedVolume placedEnvelope = motherVolume.placeVolume(
+      envelopeVolume, DD4hepTestsHelper::createTransform(x_det_env));
+  placedEnvelope.addPhysVolID("system", discLayerElement.id());
+  discLayerElement.setPlacement(placedEnvelope);
+
+  return discLayerElement;
+}
+
+DECLARE_DETELEMENT(DiscLayer, create_disc_layer)
diff --git a/Tests/UnitTests/Plugins/DD4hep/PrimitivesFactory.cpp b/Tests/UnitTests/Plugins/DD4hep/PrimitivesFactory.cpp
new file mode 100644
index 00000000000..369668a0d3c
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/PrimitivesFactory.cpp
@@ -0,0 +1,179 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "Acts/Plugins/DD4hep/DD4hepConversionHelpers.hpp"
+
+#include <DD4hep/DetFactoryHelper.h>
+#include <DD4hep/Objects.h>
+#include <XML/Utilities.h>
+
+#include "DD4hepTestsHelper.hpp"
+
+using namespace std;
+using namespace dd4hep;
+
+/// Standard create_cylinder(...) create a simple cylinder
+///
+/// @param dd the detector to which this is addedded
+/// @param xml the input xml element
+/// @param sens is ignored
+///
+/// @return a reference counted DetElement
+static Ref_t create_cylinder(Detector &dd, xml_h xml,
+                             SensitiveDetector /*sens*/) {
+  xml_det_t x_det = xml;
+  string detName = x_det.nameStr();
+
+  // Make Volume
+  xml_comp_t x_det_tubs = x_det.child(_U(tubs));
+
+  // Make DetElement
+  DetElement cylinderElement(detName, x_det.id());
+  dd4hep::xml::setDetectorTypeFlag(xml, cylinderElement);
+
+  string shapeName = x_det_tubs.nameStr();
+  double phiMin = Acts::getAttrValueOr<double>(x_det_tubs, "phimin", 0.);
+  double phiMax = Acts::getAttrValueOr<double>(x_det_tubs, "phimax", 360.);
+  Tube tubeShape(shapeName, x_det_tubs.rmin(), x_det_tubs.rmax(),
+                 x_det_tubs.dz(), phiMin, phiMax);
+  Volume tubeVolume(detName, tubeShape, dd.material(x_det_tubs.materialStr()));
+  tubeVolume.setVisAttributes(dd, x_det.visStr());
+
+  // Place it in the mother
+  Volume motherVolume = dd.pickMotherVolume(cylinderElement);
+  PlacedVolume placedTube = motherVolume.placeVolume(
+      tubeVolume, DD4hepTestsHelper::createTransform(x_det_tubs));
+  placedTube.addPhysVolID(detName, cylinderElement.id());
+  cylinderElement.setPlacement(placedTube);
+
+  // And return the element for further parsing
+  return cylinderElement;
+}
+
+DECLARE_DETELEMENT(Cylinder, create_cylinder)
+
+/// Standard create_disc(...) create a simple disc
+///
+/// @param dd the detector to which this is addedded
+/// @param xml the input xml element
+/// @param sens is ignored
+///
+/// @return a reference counted DetElement
+static Ref_t create_disc(Detector &dd, xml_h xml, SensitiveDetector /*sens*/) {
+  xml_det_t x_det = xml;
+  string detName = x_det.nameStr();
+
+  // Make Volume
+  xml_comp_t x_det_tubs = x_det.child(_U(tubs));
+
+  // Make DetElement
+  DetElement discElement(detName, x_det.id());
+  dd4hep::xml::setDetectorTypeFlag(xml, discElement);
+
+  string shapeName = x_det_tubs.nameStr();
+  double phiMin = Acts::getAttrValueOr<double>(x_det_tubs, "phimin", 0.);
+  double phiMax = Acts::getAttrValueOr<double>(x_det_tubs, "phimax", 360.);
+
+  Tube discShape = Tube(shapeName, x_det_tubs.rmin(), x_det_tubs.rmax(),
+                        x_det_tubs.dz(), phiMin, phiMax);
+
+  Volume discVolume(detName, discShape, dd.material(x_det_tubs.materialStr()));
+  discVolume.setVisAttributes(dd, x_det.visStr());
+
+  // Place it in the mother
+  Volume motherVolume = dd.pickMotherVolume(discElement);
+  PlacedVolume placedTube = motherVolume.placeVolume(
+      discVolume, DD4hepTestsHelper::createTransform(x_det_tubs));
+  placedTube.addPhysVolID(detName, discElement.id());
+  discElement.setPlacement(placedTube);
+
+  // And return the element for further parsing
+  return discElement;
+}
+
+DECLARE_DETELEMENT(Disc, create_disc)
+
+/// Standard create_rectangle(...) create a simple rectangle
+///
+/// @param dd the detector to which this is addedded
+/// @param xml the input xml element
+/// @param sens is ignored
+///
+/// @return a reference counted DetElement
+static Ref_t create_rectangle(Detector &dd, xml_h xml,
+                              SensitiveDetector /*sens*/) {
+  xml_det_t x_det = xml;
+  string detName = x_det.nameStr();
+
+  // Make Volume
+  xml_comp_t x_det_box = x_det.child(_U(box));
+
+  // Make DetElement
+  DetElement rectElement(detName, x_det.id());
+  dd4hep::xml::setDetectorTypeFlag(xml, rectElement);
+
+  string shapeName = x_det_box.nameStr();
+  Box rectShape(shapeName, 0.5 * x_det_box.dx(), 0.5 * x_det_box.dy(),
+                0.5 * x_det_box.dz());
+
+  Volume rectVolume(detName, rectShape, dd.material(x_det_box.materialStr()));
+  rectVolume.setVisAttributes(dd, x_det.visStr());
+
+  // Place it in the mother
+  Volume motherVolume = dd.pickMotherVolume(rectElement);
+  PlacedVolume placedRect = motherVolume.placeVolume(
+      rectVolume, DD4hepTestsHelper::createTransform(x_det_box));
+  placedRect.addPhysVolID(detName, rectElement.id());
+  rectElement.setPlacement(placedRect);
+
+  // And return the element for further parsing
+  return rectElement;
+}
+
+DECLARE_DETELEMENT(Rectangle, create_rectangle)
+
+/// Standard create_trapezoid (...) create a simple trapezoid
+///
+/// @param dd the detector to which this is addedded
+/// @param xml the input xml element
+/// @param sens is ignored
+///
+/// @return a reference counted DetElement
+static Ref_t create_trapezoid(Detector &dd, xml_h xml,
+                              SensitiveDetector /*sens*/) {
+  xml_det_t x_det = xml;
+  string detName = x_det.nameStr();
+
+  // Make Volume
+  xml_comp_t x_det_trap = x_det.child(_U(trap));
+
+  // Make DetElement
+  DetElement trapElement(detName, x_det.id());
+  dd4hep::xml::setDetectorTypeFlag(xml, trapElement);
+
+  string shapeName = x_det_trap.nameStr();
+
+  // Due to convention this causes an axis flip on x
+  Trapezoid trapShape(x_det_trap.x1(), x_det_trap.x2(), 0.5 * x_det_trap.dz(),
+                      0.5 * x_det_trap.dz(), 0.5 * x_det_trap.dy());
+
+  Volume trapVolume(detName, trapShape, dd.material(x_det_trap.materialStr()));
+  trapVolume.setVisAttributes(dd, x_det.visStr());
+
+  // Place it in the mother
+  Volume motherVolume = dd.pickMotherVolume(trapElement);
+  PlacedVolume placedTrap = motherVolume.placeVolume(
+      trapVolume, DD4hepTestsHelper::createTransform(x_det_trap));
+  placedTrap.addPhysVolID(detName, trapElement.id());
+  trapElement.setPlacement(placedTrap);
+
+  // And return the element for further parsing
+  return trapElement;
+}
+
+DECLARE_DETELEMENT(Trapezoid, create_trapezoid)
diff --git a/Tests/UnitTests/Plugins/DD4hep/XMLFragments.hpp b/Tests/UnitTests/Plugins/DD4hep/XMLFragments.hpp
new file mode 100644
index 00000000000..32ebd8740b1
--- /dev/null
+++ b/Tests/UnitTests/Plugins/DD4hep/XMLFragments.hpp
@@ -0,0 +1,50 @@
+// This file is part of the Acts project.
+//
+// Copyright (C) 2023 CERN for the benefit of the Acts project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+const char* head_xml =
+    R""""(<?xml version="1.0" encoding="UTF-8"?>
+<lccdd xmlns:compact="http://www.lcsim.org/schemas/compact/1.0" xmlns:xs="http://www.w3.org/2001/XMLSchema" xs:noNamespaceSchemaLocation="http://www.lcsim.org/schemas/compact/1.0/compact.xsd">
+    <info name="Cylinder" title="Cylinder Detector" author="Andreas.Salzburger@cern.ch" url="" status="alpha" version="0">
+                <comment>Test conversion of cylinder elements</comment>
+    </info>
+
+    <materials>
+        <element Z="1" formula="H" name="H" >
+            <atom type="A" unit="g/mol" value="1.00794" />
+        </element>
+        <material name="Vacuum">
+            <D type="density" unit="g/cm3" value="0.00000001" />
+            <fraction n="1" ref="H" />
+        </material>
+        <material name="Air">
+            <D type="density" unit="g/cm3" value="0.00000001" />
+            <fraction n="1" ref="H" />
+        </material>
+    </materials>
+
+    <define>
+        <!--World-->
+        <constant name="world_size" value="10.*m"/>
+        <constant name="world_x" value="world_size"/>
+        <constant name="world_y" value="world_size"/>
+        <constant name="world_z" value="world_size"/>
+    </define>
+)"""";
+
+const char* segmentation_xml =
+    R""""(<readouts>
+    <readout name="PixelReadout">
+      <segmentation type="CartesianGridXY" grid_size_x="0.05*mm" grid_size_y="0.05*mm"/>
+      <id>system:4,layer:4,stave:8,module:4,sensor:1,x:24:-12,y:-12</id>
+    </readout>
+  </readouts>
+  )"""";
+
+const char* end_xml = "</lccdd>";

From f2c21c261165466bc5f86fcf0e7ae281847e2895 Mon Sep 17 00:00:00 2001
From: Andreas Stefl <stefl.andreas@gmail.com>
Date: Thu, 5 Oct 2023 11:54:23 +0200
Subject: [PATCH 19/20] feat: Python bindings for Geant4 manager and handle
 (#2500)

This enables us to inspect the current handle of Geant4 and therefore adjust the log level from python which is useful while debugging.
---
 .../include/ActsExamples/Geant4/Geant4Manager.hpp      |  6 ++++--
 Examples/Algorithms/Geant4/src/Geant4Manager.cpp       | 10 +++++++---
 Examples/Python/src/Geant4Component.cpp                |  9 ++++++++-
 3 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/Examples/Algorithms/Geant4/include/ActsExamples/Geant4/Geant4Manager.hpp b/Examples/Algorithms/Geant4/include/ActsExamples/Geant4/Geant4Manager.hpp
index 914f08c86e2..44aaebd3e45 100644
--- a/Examples/Algorithms/Geant4/include/ActsExamples/Geant4/Geant4Manager.hpp
+++ b/Examples/Algorithms/Geant4/include/ActsExamples/Geant4/Geant4Manager.hpp
@@ -52,7 +52,7 @@ struct Geant4Handle {
   /// Set logging consistently across common Geant4 modules
   ///
   /// Convenience method which calls into Geant4Manager
-  void tweekLogging(int level) const;
+  void tweakLogging(int level) const;
 };
 
 /// Allows easy instantiation of a Geant4Handle object
@@ -61,7 +61,9 @@ class Geant4Manager {
   static Geant4Manager &instance();
 
   /// Set logging consistently across common Geant4 modules
-  static void tweekLogging(G4RunManager &runManager, int level);
+  static void tweakLogging(G4RunManager &runManager, int level);
+
+  std::shared_ptr<Geant4Handle> currentHandle() const;
 
   /// This can only be called once due to Geant4 limitations
   std::shared_ptr<Geant4Handle> createHandle(int logLevel,
diff --git a/Examples/Algorithms/Geant4/src/Geant4Manager.cpp b/Examples/Algorithms/Geant4/src/Geant4Manager.cpp
index 6ef8b8544a0..2792e542805 100644
--- a/Examples/Algorithms/Geant4/src/Geant4Manager.cpp
+++ b/Examples/Algorithms/Geant4/src/Geant4Manager.cpp
@@ -53,8 +53,8 @@ Geant4Handle::Geant4Handle(int _logLevel,
 
 Geant4Handle::~Geant4Handle() = default;
 
-void Geant4Handle::tweekLogging(int level) const {
-  Geant4Manager::tweekLogging(*runManager, level);
+void Geant4Handle::tweakLogging(int level) const {
+  Geant4Manager::tweakLogging(*runManager, level);
 }
 
 Geant4Manager& Geant4Manager::instance() {
@@ -62,7 +62,7 @@ Geant4Manager& Geant4Manager::instance() {
   return manager;
 }
 
-void Geant4Manager::tweekLogging(G4RunManager& runManager, int level) {
+void Geant4Manager::tweakLogging(G4RunManager& runManager, int level) {
   runManager.SetVerboseLevel(level);
   G4EventManager::GetEventManager()->SetVerboseLevel(level);
   G4EventManager::GetEventManager()->GetTrackingManager()->SetVerboseLevel(
@@ -77,6 +77,10 @@ void Geant4Manager::tweekLogging(G4RunManager& runManager, int level) {
 #endif
 }
 
+std::shared_ptr<Geant4Handle> Geant4Manager::currentHandle() const {
+  return m_handle.lock();
+}
+
 std::shared_ptr<Geant4Handle> Geant4Manager::createHandle(
     int logLevel, const std::string& physicsList) {
   return createHandle(logLevel, createPhysicsList(physicsList), physicsList);
diff --git a/Examples/Python/src/Geant4Component.cpp b/Examples/Python/src/Geant4Component.cpp
index 54f0fabbc11..3d11ab377e8 100644
--- a/Examples/Python/src/Geant4Component.cpp
+++ b/Examples/Python/src/Geant4Component.cpp
@@ -69,7 +69,14 @@ PYBIND11_MODULE(ActsPythonBindingsGeant4, mod) {
              std::shared_ptr<DetectorConstructionFactory>>(
       mod, "DetectorConstructionFactory");
 
-  py::class_<Geant4Handle, std::shared_ptr<Geant4Handle>>(mod, "Geant4Handle");
+  py::class_<Geant4Manager, std::unique_ptr<Geant4Manager, py::nodelete>>(
+      mod, "Geant4Manager")
+      .def_static("instance", &Geant4Manager::instance,
+                  py::return_value_policy::reference)
+      .def("currentHandle", &Geant4Manager::currentHandle);
+
+  py::class_<Geant4Handle, std::shared_ptr<Geant4Handle>>(mod, "Geant4Handle")
+      .def("tweakLogging", &Geant4Handle::tweakLogging);
 
   {
     using Algorithm = Geant4SimulationBase;

From 6474bd2f891e563a1e065639b89d527d2a56aa03 Mon Sep 17 00:00:00 2001
From: Paul Gessinger <paul.gessinger@cern.ch>
Date: Thu, 5 Oct 2023 17:00:03 +0200
Subject: [PATCH 20/20] fix: (Layer-based) Geometry construction handles
 layerless volumes (#2514)

In calorimeter developments with ODD we noticed that if DD4hep produces a volume without layers, which currently is the case with the calorimeter implementation that we have there, the geometry construction will fail to produce a geometry. This changes the layer-based geometry construction to ignore volumes without layers for now.
---
 Core/src/Geometry/CylinderVolumeBuilder.cpp   | 9 +++++++++
 Core/src/Geometry/TrackingGeometryBuilder.cpp | 9 ++++++++-
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/Core/src/Geometry/CylinderVolumeBuilder.cpp b/Core/src/Geometry/CylinderVolumeBuilder.cpp
index ceb72c7affb..a4520d3b828 100644
--- a/Core/src/Geometry/CylinderVolumeBuilder.cpp
+++ b/Core/src/Geometry/CylinderVolumeBuilder.cpp
@@ -161,6 +161,15 @@ Acts::CylinderVolumeBuilder::trackingVolume(
   wConfig.cVolumeConfig = analyzeContent(gctx, centralLayers, centralVolumes);
   wConfig.pVolumeConfig = analyzeContent(gctx, positiveLayers, {});  // TODO
 
+  bool hasLayers = wConfig.nVolumeConfig.present ||
+                   wConfig.cVolumeConfig.present ||
+                   wConfig.pVolumeConfig.present;
+
+  if (!hasLayers) {
+    ACTS_INFO("No layers present, returning nullptr");
+    return nullptr;
+  }
+
   std::string layerConfiguration = "|";
   if (wConfig.nVolumeConfig) {
     // negative layers are present
diff --git a/Core/src/Geometry/TrackingGeometryBuilder.cpp b/Core/src/Geometry/TrackingGeometryBuilder.cpp
index 911909ad1b6..90a10b0ba04 100644
--- a/Core/src/Geometry/TrackingGeometryBuilder.cpp
+++ b/Core/src/Geometry/TrackingGeometryBuilder.cpp
@@ -47,7 +47,14 @@ Acts::TrackingGeometryBuilder::trackingGeometry(
   for (auto& volumeBuilder : m_cfg.trackingVolumeBuilders) {
     // assign a new highest volume (and potentially wrap around the given
     // highest volume so far)
-    highestVolume = volumeBuilder(gctx, highestVolume, nullptr);
+    auto volume = volumeBuilder(gctx, highestVolume, nullptr);
+    if (!volume) {
+      ACTS_INFO(
+          "Received nullptr volume from builder, keeping previous highest "
+          "volume");
+    } else {
+      highestVolume = std::move(volume);
+    }
   }
 
   // create the TrackingGeometry & decorate it with the material