Head-tracking library for Immersive Audio
See README.md for details.
Bug: 188502620
Test: atest --host libheadtracking-test
Change-Id: I34201c4780e5e581cc96449bd89863bcbc250783
diff --git a/media/libheadtracking/ModeSelector-test.cpp b/media/libheadtracking/ModeSelector-test.cpp
new file mode 100644
index 0000000..6247d84
--- /dev/null
+++ b/media/libheadtracking/ModeSelector-test.cpp
@@ -0,0 +1,149 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "ModeSelector.h"
+
+#include <gtest/gtest.h>
+
+#include "QuaternionUtil.h"
+#include "TestUtil.h"
+
+namespace android {
+namespace media {
+namespace {
+
+using Eigen::Quaternionf;
+using Eigen::Vector3f;
+
+TEST(ModeSelector, Initial) {
+ ModeSelector::Options options;
+ ModeSelector selector(options);
+
+ selector.calculate(0);
+ EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), Pose3f());
+}
+
+TEST(ModeSelector, InitialWorldRelative) {
+ const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options;
+ ModeSelector selector(options, HeadTrackingMode::WORLD_RELATIVE);
+
+ selector.setWorldToHeadPose(0, worldToHead);
+ selector.calculate(0);
+ EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse());
+}
+
+TEST(ModeSelector, InitialScreenRelative) {
+ const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options;
+ ModeSelector selector(options, HeadTrackingMode::SCREEN_RELATIVE);
+
+ selector.setScreenToHeadPose(0, screenToHead);
+ selector.calculate(0);
+ EXPECT_EQ(HeadTrackingMode::SCREEN_RELATIVE, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), screenToHead.inverse());
+}
+
+TEST(ModeSelector, WorldRelative) {
+ const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+ const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options;
+ ModeSelector selector(options);
+
+ selector.setScreenToStagePose(screenToStage);
+
+ selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
+ selector.setWorldToHeadPose(0, worldToHead);
+ selector.calculate(0);
+ EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
+}
+
+TEST(ModeSelector, WorldRelativeStale) {
+ const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+ const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options{.freshnessTimeout = 100};
+ ModeSelector selector(options);
+
+ selector.setScreenToStagePose(screenToStage);
+
+ selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
+ selector.setWorldToHeadPose(0, worldToHead);
+ selector.calculate(101);
+ EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
+}
+
+TEST(ModeSelector, ScreenRelative) {
+ const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
+ const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options;
+ ModeSelector selector(options);
+
+ selector.setScreenToStagePose(screenToStage);
+
+ selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
+ selector.setScreenToHeadPose(0, screenToHead);
+ selector.calculate(0);
+ EXPECT_EQ(HeadTrackingMode::SCREEN_RELATIVE, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), screenToHead.inverse() * screenToStage);
+}
+
+TEST(ModeSelector, ScreenRelativeStaleToWorldRelative) {
+ const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom());
+ const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+ const Pose3f worldToHead({7, 8, 9}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options{.freshnessTimeout = 100};
+ ModeSelector selector(options);
+
+ selector.setScreenToStagePose(screenToStage);
+
+ selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
+ selector.setScreenToHeadPose(0, screenToHead);
+ selector.setWorldToHeadPose(50, worldToHead);
+ selector.calculate(101);
+ EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
+}
+
+TEST(ModeSelector, ScreenRelativeInvalidToWorldRelative) {
+ const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+ const Pose3f worldToHead({7, 8, 9}, Quaternionf::UnitRandom());
+
+ ModeSelector::Options options;
+ ModeSelector selector(options);
+
+ selector.setScreenToStagePose(screenToStage);
+
+ selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
+ selector.setScreenToHeadPose(50, std::nullopt);
+ selector.setWorldToHeadPose(50, worldToHead);
+ selector.calculate(101);
+ EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
+ EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
+}
+
+} // namespace
+} // namespace media
+} // namespace android