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feat: move spline to helper in Visualization (#3950)
This PR moves the spline-interpolation from `Examples/Plugins/Obj` to `Core/Visualization` because it can be used in other visualisation areas as well. I've added also a UnitTest since this is from some `experimetnal/usupported` Eigen directory, but it works nicely!
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| Original file line number | Diff line number | Diff line change |
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| // This file is part of the ACTS project. | ||
| // | ||
| // Copyright (C) 2016 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 https://mozilla.org/MPL/2.0/. | ||
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| #pragma once | ||
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| #include "Acts/Definitions/Algebra.hpp" | ||
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| #include <unsupported/Eigen/Splines> | ||
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| namespace Acts::Interpolation3D { | ||
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| /// @brief Helper function to interpolate points using a spline | ||
| /// from Eigen | ||
| /// | ||
| /// The only requirement is that the input trajectory type has | ||
| /// a method empty() and size() and that the elements can be | ||
| /// accessed with operator[] and have themselves a operator[] to | ||
| /// access the coordinates. | ||
| /// | ||
| /// @tparam input_trajectory_type input trajectory type | ||
| /// | ||
| /// @param inputsRaw input vector points | ||
| /// @param nPoints number of interpolation points | ||
| /// @param keepOriginalHits keep the original hits in the trajectory | ||
| /// | ||
| /// @return std::vector<Acts::Vector3> interpolated points | ||
| template <typename trajectory_type> | ||
| trajectory_type spline(const trajectory_type& inputsRaw, std::size_t nPoints, | ||
| bool keepOriginalHits = false) { | ||
| trajectory_type output; | ||
| if (inputsRaw.empty()) { | ||
| return output; | ||
| } | ||
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| using InputVectorType = typename trajectory_type::value_type; | ||
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| std::vector<Vector3> inputs; | ||
| // If input type is a vector of Vector3 we can use it directly | ||
| if constexpr (std::is_same_v<trajectory_type, std::vector<Vector3>>) { | ||
| inputs = inputsRaw; | ||
| } else { | ||
| inputs.reserve(inputsRaw.size()); | ||
| for (const auto& input : inputsRaw) { | ||
| inputs.push_back(Vector3(input[0], input[1], input[2])); | ||
| } | ||
| } | ||
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| // Don't do anything if we have less than 3 points or less interpolation | ||
| // points than input points | ||
| if (inputsRaw.size() < 3 || nPoints <= inputsRaw.size()) { | ||
| return inputsRaw; | ||
| } else { | ||
| Eigen::MatrixXd points(3, inputs.size()); | ||
| for (std::size_t i = 0; i < inputs.size(); ++i) { | ||
| points.col(i) = inputs[i].transpose(); | ||
| } | ||
| Eigen::Spline<double, 3> spline3D = | ||
| Eigen::SplineFitting<Eigen::Spline<double, 3>>::Interpolate(points, 2); | ||
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| double step = 1. / (nPoints - 1); | ||
| for (std::size_t i = 0; i < nPoints; ++i) { | ||
| double t = i * step; | ||
| InputVectorType point; | ||
| point[0] = spline3D(t)[0]; | ||
| point[1] = spline3D(t)[1]; | ||
| point[2] = spline3D(t)[2]; | ||
| output.push_back(point); | ||
| } | ||
| } | ||
| // If we want to keep the original hits, we add them to the output | ||
| // (first and last are there anyway) | ||
| if (keepOriginalHits) { | ||
| output.insert(output.begin(), inputsRaw.begin() + 1, inputsRaw.end() - 1); | ||
| // We need to sort the output in distance to first | ||
| std::sort(output.begin(), output.end(), | ||
| [&inputs](const auto& a, const auto& b) { | ||
| const auto ifront = inputs.front(); | ||
| double da2 = (a[0] - ifront[0]) * (a[0] - ifront[0]) + | ||
| (a[1] - ifront[1]) * (a[1] - ifront[1]) + | ||
| (a[2] - ifront[2]) * (a[2] - ifront[2]); | ||
| double db2 = (b[0] - ifront[0]) * (b[0] - ifront[0]) + | ||
| (b[1] - ifront[1]) * (b[1] - ifront[1]) + | ||
| (b[2] - ifront[2]) * (b[2] - ifront[2]); | ||
| return da2 < db2; | ||
| }); | ||
| } | ||
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| return output; | ||
| } | ||
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| } // namespace Acts::Interpolation3D |
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92 changes: 92 additions & 0 deletions
92
Tests/UnitTests/Core/Visualization/Interpolation3DTests.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| // This file is part of the ACTS project. | ||
| // | ||
| // Copyright (C) 2016 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 https://mozilla.org/MPL/2.0/. | ||
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| #include <boost/test/unit_test.hpp> | ||
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| #include "Acts/Tests/CommonHelpers/FloatComparisons.hpp" | ||
| #include "Acts/Visualization/Interpolation3D.hpp" | ||
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| #include <numbers> | ||
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| namespace Acts::Test { | ||
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| BOOST_AUTO_TEST_SUITE(Visualization) | ||
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| BOOST_AUTO_TEST_CASE(SplineInterpolationEigen) { | ||
| /// Define the input vector | ||
| double R = 10.; | ||
| std::vector<Acts::Vector3> inputs; | ||
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| // Interpolate the points options | ||
| std::vector<Acts::Vector3> trajectory; | ||
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| // Empty in empty out check | ||
| trajectory = Acts::Interpolation3D::spline(inputs, 10); | ||
| BOOST_CHECK(trajectory.empty()); | ||
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| for (double phi = 0; phi < 2 * std::numbers::pi; | ||
| phi += std::numbers::pi / 4) { | ||
| inputs.push_back(Acts::Vector3(R * cos(phi), R * sin(phi), 0.)); | ||
| } | ||
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| // (0) - nothing happens | ||
| trajectory = Acts::Interpolation3D::spline(inputs, 1); | ||
| // Check input and output size are the same | ||
| BOOST_CHECK_EQUAL(trajectory.size(), inputs.size()); | ||
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| // (1) - interpolate between the points with 12 points in total | ||
| trajectory = Acts::Interpolation3D::spline(inputs, 12); | ||
| // Check the output size is correct | ||
| BOOST_CHECK_EQUAL(trajectory.size(), 12); | ||
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| for (const auto& point : trajectory) { | ||
| // Check the interpolated points are on the circle | ||
| // with a tolerance of course | ||
| CHECK_CLOSE_ABS(point.norm(), R, 0.1); | ||
| // Verify points remain in the XY plane | ||
| CHECK_CLOSE_ABS(point.z(), 0., 0.1); | ||
| } | ||
| } | ||
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| BOOST_AUTO_TEST_CASE(SplineInterpolationArray) { | ||
| /// Define the input vector | ||
| std::vector<std::array<double, 3u>> inputs; | ||
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| for (double x = 0; x < 10; x += 1) { | ||
| inputs.push_back({x, x * x, 0.}); | ||
| } | ||
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| // This time we keep the original hits | ||
| auto trajectory = Acts::Interpolation3D::spline(inputs, 100, true); | ||
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| // Check the outpu type is correct | ||
| constexpr bool isOutput = | ||
| std::is_same_v<decltype(trajectory), decltype(inputs)>; | ||
| BOOST_CHECK(isOutput); | ||
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| // Check the output size is correct | ||
| BOOST_CHECK_EQUAL(trajectory.size(), 108); | ||
| } | ||
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| BOOST_AUTO_TEST_CASE(SplineInterpolationErrors) { | ||
| std::vector<std::array<double, 3u>> inputs; | ||
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| // Test with single point | ||
| inputs.push_back({0., 0., 0.}); | ||
| auto result = Acts::Interpolation3D::spline(inputs, 10); | ||
| BOOST_CHECK_EQUAL(result.size(), 1); | ||
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| // Test with two points | ||
| inputs.push_back({1., 1., 1.}); | ||
| result = Acts::Interpolation3D::spline(inputs, 10); | ||
| BOOST_CHECK_EQUAL(result.size(), 2); | ||
| } | ||
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| BOOST_AUTO_TEST_SUITE_END() | ||
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| } // namespace Acts::Test |