1 /*
2 * Copyright (C) 2021 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include "ModeSelector.h"
18
19 #include <gtest/gtest.h>
20
21 #include "QuaternionUtil.h"
22 #include "TestUtil.h"
23
24 namespace android {
25 namespace media {
26 namespace {
27
28 using Eigen::Quaternionf;
29 using Eigen::Vector3f;
30
TEST(ModeSelector,Initial)31 TEST(ModeSelector, Initial) {
32 ModeSelector::Options options;
33 ModeSelector selector(options);
34
35 selector.calculate(0);
36 EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
37 EXPECT_EQ(selector.getHeadToStagePose(), Pose3f());
38 }
39
TEST(ModeSelector,InitialWorldRelative)40 TEST(ModeSelector, InitialWorldRelative) {
41 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
42
43 ModeSelector::Options options;
44 ModeSelector selector(options, HeadTrackingMode::WORLD_RELATIVE);
45
46 selector.setWorldToHeadPose(0, worldToHead);
47 selector.calculate(0);
48 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
49 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse());
50 }
51
TEST(ModeSelector,InitialScreenRelative)52 TEST(ModeSelector, InitialScreenRelative) {
53 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
54
55 ModeSelector::Options options;
56 ModeSelector selector(options, HeadTrackingMode::SCREEN_RELATIVE);
57
58 selector.setScreenToHeadPose(0, screenToHead);
59 selector.calculate(0);
60 EXPECT_EQ(HeadTrackingMode::SCREEN_RELATIVE, selector.getActualMode());
61 EXPECT_EQ(selector.getHeadToStagePose(), screenToHead.inverse());
62 }
63
TEST(ModeSelector,WorldRelative)64 TEST(ModeSelector, WorldRelative) {
65 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
66 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
67
68 ModeSelector::Options options;
69 ModeSelector selector(options);
70
71 selector.setScreenToStagePose(screenToStage);
72
73 selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
74 selector.setWorldToHeadPose(0, worldToHead);
75 selector.calculate(0);
76 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
77 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
78 }
79
TEST(ModeSelector,WorldRelativeStale)80 TEST(ModeSelector, WorldRelativeStale) {
81 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
82 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
83
84 ModeSelector::Options options{.freshnessTimeout = 100};
85 ModeSelector selector(options);
86
87 selector.setScreenToStagePose(screenToStage);
88
89 selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
90 selector.setWorldToHeadPose(0, worldToHead);
91 selector.calculate(101);
92 EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
93 EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
94 }
95
TEST(ModeSelector,ScreenRelative)96 TEST(ModeSelector, ScreenRelative) {
97 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
98 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
99
100 ModeSelector::Options options;
101 ModeSelector selector(options);
102
103 selector.setScreenToStagePose(screenToStage);
104
105 selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
106 selector.setScreenToHeadPose(0, screenToHead);
107 selector.calculate(0);
108 EXPECT_EQ(HeadTrackingMode::SCREEN_RELATIVE, selector.getActualMode());
109 EXPECT_EQ(selector.getHeadToStagePose(), screenToHead.inverse() * screenToStage);
110 }
111
TEST(ModeSelector,ScreenRelativeStaleToWorldRelative)112 TEST(ModeSelector, ScreenRelativeStaleToWorldRelative) {
113 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
114 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
115 const Pose3f worldToHead({7, 8, 9}, Quaternionf::UnitRandom());
116
117 ModeSelector::Options options{.freshnessTimeout = 100};
118 ModeSelector selector(options);
119
120 selector.setScreenToStagePose(screenToStage);
121
122 selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
123 selector.setScreenToHeadPose(0, screenToHead);
124 selector.setWorldToHeadPose(50, worldToHead);
125 selector.calculate(101);
126 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
127 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
128 }
129
TEST(ModeSelector,ScreenRelativeInvalidToWorldRelative)130 TEST(ModeSelector, ScreenRelativeInvalidToWorldRelative) {
131 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
132 const Pose3f worldToHead({7, 8, 9}, Quaternionf::UnitRandom());
133
134 ModeSelector::Options options;
135 ModeSelector selector(options);
136
137 selector.setScreenToStagePose(screenToStage);
138
139 selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
140 selector.setScreenToHeadPose(50, std::nullopt);
141 selector.setWorldToHeadPose(50, worldToHead);
142 selector.calculate(101);
143 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
144 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
145 }
146
147 } // namespace
148 } // namespace media
149 } // namespace android
150