148 lines
4.3 KiB
C++
148 lines
4.3 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 <cmath>
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#include "PoseDriftCompensator.h"
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#include "media/QuaternionUtil.h"
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#include "TestUtil.h"
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namespace android {
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namespace media {
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namespace {
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using Eigen::Quaternionf;
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using Eigen::Vector3f;
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using Options = PoseDriftCompensator::Options;
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TEST(PoseDriftCompensator, Initial) {
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PoseDriftCompensator comp(Options{});
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EXPECT_EQ(comp.getOutput(), Pose3f());
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}
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TEST(PoseDriftCompensator, NoDrift) {
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Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());
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Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());
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PoseDriftCompensator comp(Options{});
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// First pose sets the baseline.
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comp.setInput(1000, pose1);
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(2000, pose2);
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EXPECT_EQ(comp.getOutput(), pose1.inverse() * pose2);
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// Recentering resets the baseline.
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comp.recenter();
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(3000, pose1);
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(4000, pose2);
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EXPECT_EQ(comp.getOutput(), pose1.inverse() * pose2);
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}
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TEST(PoseDriftCompensator, NoDriftZeroTime) {
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Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());
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Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());
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PoseDriftCompensator comp(Options{});
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comp.setInput(1000, pose1);
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(1000, pose2);
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EXPECT_EQ(comp.getOutput(), pose1.inverse() * pose2);
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comp.recenter();
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(1000, pose1);
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(1000, pose2);
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EXPECT_EQ(comp.getOutput(), pose1.inverse() * pose2);
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}
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TEST(PoseDriftCompensator, Asymptotic) {
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Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom());
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PoseDriftCompensator comp(
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Options{.translationalDriftTimeConstant = 1, .rotationalDriftTimeConstant = 1});
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// Set the same pose for a long time.
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for (int64_t t = 0; t < 1000; ++t) {
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comp.setInput(t, pose);
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}
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// Output would have faded to approx. identity.
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EXPECT_EQ(comp.getOutput(), Pose3f());
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}
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TEST(PoseDriftCompensator, Fast) {
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Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());
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Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());
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PoseDriftCompensator comp(
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Options{.translationalDriftTimeConstant = 1e7, .rotationalDriftTimeConstant = 1e7});
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comp.setInput(0, pose1);
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(1, pose2);
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EXPECT_EQ(comp.getOutput(), pose1.inverse() * pose2);
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comp.recenter();
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(2, pose1);
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EXPECT_EQ(comp.getOutput(), Pose3f());
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comp.setInput(3, pose2);
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EXPECT_EQ(comp.getOutput(), pose1.inverse() * pose2);
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}
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TEST(PoseDriftCompensator, Drift) {
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Pose3f pose1({1, 2, 3}, rotateZ(-M_PI * 3 / 4));
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PoseDriftCompensator comp(
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Options{.translationalDriftTimeConstant = 500, .rotationalDriftTimeConstant = 1000});
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// Establish a baseline.
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comp.setInput(1000, Pose3f());
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// Initial pose is used as is.
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comp.setInput(1000, pose1);
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EXPECT_EQ(comp.getOutput(), pose1);
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// After 1000 ticks, our rotation should be exp(-1) and translation exp(-2) from identity.
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comp.setInput(2000, pose1);
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EXPECT_EQ(comp.getOutput(),
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Pose3f(Vector3f{1, 2, 3} * std::expf(-2), rotateZ(-M_PI * 3 / 4 * std::expf(-1))));
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// As long as the input stays the same, we'll continue to advance towards identity.
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comp.setInput(3000, pose1);
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EXPECT_EQ(comp.getOutput(),
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Pose3f(Vector3f{1, 2, 3} * std::expf(-4), rotateZ(-M_PI * 3 / 4 * std::expf(-2))));
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comp.recenter();
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EXPECT_EQ(comp.getOutput(), Pose3f());
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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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