76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/*
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* Copyright (C) 2021 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <gtest/gtest.h>
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#include "ScreenHeadFusion.h"
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#include "TestUtil.h"
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using Eigen::Quaternionf;
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using Eigen::Vector3f;
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namespace android {
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namespace media {
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namespace {
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TEST(ScreenHeadFusion, Init) {
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ScreenHeadFusion fusion;
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EXPECT_FALSE(fusion.calculate().has_value());
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}
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TEST(ScreenHeadFusion, Calculate_NoHead) {
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ScreenHeadFusion fusion;
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fusion.setWorldToScreenPose(0, Pose3f());
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EXPECT_FALSE(fusion.calculate().has_value());
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}
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TEST(ScreenHeadFusion, Calculate_NoScreen) {
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ScreenHeadFusion fusion;
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fusion.setWorldToHeadPose(0, Pose3f());
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EXPECT_FALSE(fusion.calculate().has_value());
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}
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TEST(ScreenHeadFusion, Calculate) {
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Pose3f worldToScreen1({1, 2, 3}, Quaternionf::UnitRandom());
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Pose3f worldToHead1({4, 5, 6}, Quaternionf::UnitRandom());
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Pose3f worldToScreen2({11, 12, 13}, Quaternionf::UnitRandom());
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Pose3f worldToHead2({14, 15, 16}, Quaternionf::UnitRandom());
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ScreenHeadFusion fusion;
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fusion.setWorldToHeadPose(123, worldToHead1);
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fusion.setWorldToScreenPose(456, worldToScreen1);
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auto result = fusion.calculate();
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ASSERT_TRUE(result.has_value());
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EXPECT_EQ(123, result->timestamp);
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EXPECT_EQ(worldToScreen1.inverse() * worldToHead1, result->pose);
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fusion.setWorldToHeadPose(567, worldToHead2);
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result = fusion.calculate();
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ASSERT_TRUE(result.has_value());
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EXPECT_EQ(456, result->timestamp);
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EXPECT_EQ(worldToScreen1.inverse() * worldToHead2, result->pose);
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fusion.setWorldToScreenPose(678, worldToScreen2);
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result = fusion.calculate();
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ASSERT_TRUE(result.has_value());
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EXPECT_EQ(567, result->timestamp);
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EXPECT_EQ(worldToScreen2.inverse() * worldToHead2, result->pose);
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}
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} // namespace
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} // namespace media
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} // namespace android
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