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 "media/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.setScreenStable(0, true);
48 selector.calculate(0);
49 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
50 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse());
51 }
52
TEST(ModeSelector,InitialScreenRelative)53 TEST(ModeSelector, InitialScreenRelative) {
54 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
55
56 ModeSelector::Options options;
57 ModeSelector selector(options, HeadTrackingMode::SCREEN_RELATIVE);
58
59 selector.setScreenToHeadPose(0, screenToHead);
60 selector.calculate(0);
61 EXPECT_EQ(HeadTrackingMode::SCREEN_RELATIVE, selector.getActualMode());
62 EXPECT_EQ(selector.getHeadToStagePose(), screenToHead.inverse());
63 }
64
TEST(ModeSelector,WorldRelative)65 TEST(ModeSelector, WorldRelative) {
66 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
67 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
68
69 ModeSelector::Options options;
70 ModeSelector selector(options);
71
72 selector.setScreenToStagePose(screenToStage);
73 selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
74 selector.setWorldToHeadPose(0, worldToHead);
75 selector.setScreenStable(0, true);
76 selector.calculate(0);
77 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
78 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
79 }
80
TEST(ModeSelector,WorldRelativeUnstable)81 TEST(ModeSelector, WorldRelativeUnstable) {
82 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
83 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
84
85 ModeSelector::Options options{.freshnessTimeout = 100};
86 ModeSelector selector(options);
87
88 selector.setScreenToStagePose(screenToStage);
89 selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
90 selector.setWorldToHeadPose(0, worldToHead);
91 selector.setScreenStable(0, false);
92 selector.calculate(10);
93 EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
94 EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
95 }
96
TEST(ModeSelector,WorldRelativeStableStale)97 TEST(ModeSelector, WorldRelativeStableStale) {
98 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
99 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
100
101 ModeSelector::Options options{.freshnessTimeout = 100};
102 ModeSelector selector(options);
103
104 selector.setScreenToStagePose(screenToStage);
105 selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
106 selector.setWorldToHeadPose(100, worldToHead);
107 selector.setScreenStable(0, true);
108 selector.calculate(101);
109 EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
110 EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
111 }
112
TEST(ModeSelector,WorldRelativeStale)113 TEST(ModeSelector, WorldRelativeStale) {
114 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
115 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
116
117 ModeSelector::Options options{.freshnessTimeout = 100};
118 ModeSelector selector(options);
119
120 selector.setScreenToStagePose(screenToStage);
121 selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
122 selector.setWorldToHeadPose(0, worldToHead);
123 selector.calculate(101);
124 EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
125 EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
126 }
127
TEST(ModeSelector,ScreenRelative)128 TEST(ModeSelector, ScreenRelative) {
129 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
130 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
131
132 ModeSelector::Options options;
133 ModeSelector selector(options);
134
135 selector.setScreenToStagePose(screenToStage);
136 selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
137 selector.setScreenToHeadPose(0, screenToHead);
138 selector.calculate(0);
139 EXPECT_EQ(HeadTrackingMode::SCREEN_RELATIVE, selector.getActualMode());
140 EXPECT_EQ(selector.getHeadToStagePose(), screenToHead.inverse() * screenToStage);
141 }
142
TEST(ModeSelector,ScreenRelativeStaleToWorldRelative)143 TEST(ModeSelector, ScreenRelativeStaleToWorldRelative) {
144 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
145 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
146 const Pose3f worldToHead({7, 8, 9}, Quaternionf::UnitRandom());
147
148 ModeSelector::Options options{.freshnessTimeout = 100};
149 ModeSelector selector(options);
150
151 selector.setScreenToStagePose(screenToStage);
152 selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
153 selector.setScreenToHeadPose(0, screenToHead);
154 selector.setWorldToHeadPose(50, worldToHead);
155 selector.setScreenStable(50, true);
156 selector.calculate(101);
157 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
158 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
159 }
160
TEST(ModeSelector,ScreenRelativeInvalidToWorldRelative)161 TEST(ModeSelector, ScreenRelativeInvalidToWorldRelative) {
162 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
163 const Pose3f worldToHead({7, 8, 9}, Quaternionf::UnitRandom());
164
165 ModeSelector::Options options;
166 ModeSelector selector(options);
167
168 selector.setScreenToStagePose(screenToStage);
169
170 selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
171 selector.setScreenToHeadPose(50, std::nullopt);
172 selector.setWorldToHeadPose(50, worldToHead);
173 selector.setScreenStable(50, true);
174 selector.calculate(101);
175 EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
176 EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
177 }
178
179 } // namespace
180 } // namespace media
181 } // namespace android
182