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Diffstat (limited to 'test/util/camera.test.cpp')
| -rw-r--r-- | test/util/camera.test.cpp | 259 |
1 files changed, 259 insertions, 0 deletions
diff --git a/test/util/camera.test.cpp b/test/util/camera.test.cpp new file mode 100644 index 0000000000..ceed437a39 --- /dev/null +++ b/test/util/camera.test.cpp @@ -0,0 +1,259 @@ +#include <mbgl/test/util.hpp> + +#include <mbgl/map/camera.hpp> +#include <mbgl/util/mat3.hpp> +#include <mbgl/util/quaternion.hpp> + +#include <gmock/gmock.h> + +using namespace mbgl; + +static const double abs_double_error = 1e-7; + +MATCHER_P(Vec3NearEquals, vec, "") { + return std::fabs(vec[0] - arg[0]) <= abs_double_error && std::fabs(vec[1] - arg[1]) <= abs_double_error && + std::fabs(vec[2] - arg[2]) <= abs_double_error; +} + +TEST(FreeCameraOptions, SetLocation) { + FreeCameraOptions options; + + options.setLocation({{0.0, 0.0}, util::EARTH_RADIUS_M * M_PI}); + ASSERT_TRUE(options.position); + ASSERT_THAT(options.position.value(), Vec3NearEquals(vec3{{0.5, 0.5, 0.5}})); + + options.setLocation({{25.0, -180.0}, 1000.0}); + ASSERT_TRUE(options.position); + ASSERT_THAT(options.position.value(), Vec3NearEquals(vec3{{0.0, 0.4282409625, 0.000027532812465}})); + + options.setLocation( + {{util::LATITUDE_MAX, 0.0}, util::EARTH_RADIUS_M * M_PI * std::cos(util::LATITUDE_MAX * util::DEG2RAD)}); + ASSERT_TRUE(options.position); + ASSERT_THAT(options.position.value(), Vec3NearEquals(vec3{{0.5, 0.0, 0.5}})); + + options.setLocation( + {{-util::LATITUDE_MAX, 0.0}, util::EARTH_RADIUS_M * M_PI * std::cos(-util::LATITUDE_MAX * util::DEG2RAD)}); + ASSERT_TRUE(options.position); + ASSERT_THAT(options.position.value(), Vec3NearEquals(vec3{{0.5, 1.0, 0.5}})); +} + +TEST(FreeCameraOptions, SetLocationNegativeAltitude) { + FreeCameraOptions options; + options.setLocation({{0.0, 0.0}, -100.0}); + ASSERT_TRUE(options.position); + ASSERT_DOUBLE_EQ(options.position.value()[2], -100.0 / util::M2PI / util::EARTH_RADIUS_M); +} + +TEST(FreeCameraOptions, SetLocationUnwrappedLocation) { + FreeCameraOptions options; + + options.setLocation({{0.0, -540.0}, 0.0}); + ASSERT_TRUE(options.position); + ASSERT_THAT(options.position.value(), Vec3NearEquals(vec3{{-1.0, 0.5, 0.0}})); +} + +TEST(FreeCameraOptions, GetLocation) { + FreeCameraOptions options; + LatLngAltitude latLngAltitude; + + options.position = vec3{{0.5, 0.5, 0.5}}; + ASSERT_TRUE(options.getLocation()); + latLngAltitude = options.getLocation().value(); + ASSERT_DOUBLE_EQ(latLngAltitude.location.latitude(), 0.0); + ASSERT_DOUBLE_EQ(latLngAltitude.location.longitude(), 0.0); + ASSERT_DOUBLE_EQ(latLngAltitude.altitude, 20037508.342789244); + + options.position = vec3{{0.0, 0.4282409625, 0.000027532812465}}; + ASSERT_TRUE(options.getLocation()); + latLngAltitude = options.getLocation().value(); + ASSERT_NEAR(latLngAltitude.location.latitude(), 25.0, 1e-7); + ASSERT_NEAR(latLngAltitude.location.longitude(), -180.0, 1e-7); + ASSERT_NEAR(latLngAltitude.altitude, 1000.0, 1e-7); + + options.position = vec3{{0.5, 0.0, 0.5}}; + ASSERT_TRUE(options.getLocation()); + latLngAltitude = options.getLocation().value(); + ASSERT_NEAR(latLngAltitude.location.latitude(), util::LATITUDE_MAX, 1e-7); + ASSERT_NEAR(latLngAltitude.location.longitude(), 0.0, 1e-7); + ASSERT_NEAR(latLngAltitude.altitude, 1728570.489074, 1e-6); +} + +TEST(FreeCameraOptions, GetLocationInvalidPosition) { + FreeCameraOptions options; + // Mercator position not set. Should return nothing + ASSERT_FALSE(options.getLocation()); + + // Invalid latitude + options.position = vec3{{0.0, -0.1, 0.0}}; + ASSERT_FALSE(options.getLocation()); + options.position = vec3{{0.0, 2.0, 0.0}}; + ASSERT_FALSE(options.getLocation()); +} + +TEST(FreeCameraOptions, GetLocationNegativeAltitude) { + FreeCameraOptions options; + options.position = vec3{{0.5, 0.5, -0.25}}; + const auto latLngAltitude = options.getLocation(); + ASSERT_TRUE(latLngAltitude); + + ASSERT_DOUBLE_EQ(latLngAltitude->altitude, -0.5 * util::EARTH_RADIUS_M * M_PI); +} + +TEST(FreeCameraOptions, GetLocationUnwrappedPosition) { + FreeCameraOptions options; + options.position = vec3{{1.25, 0.5, 0.0}}; + const auto latLngAltitude = options.getLocation(); + ASSERT_TRUE(latLngAltitude); + ASSERT_DOUBLE_EQ(latLngAltitude->location.longitude(), 270.0); + ASSERT_DOUBLE_EQ(latLngAltitude->location.latitude(), 0.0); + ASSERT_DOUBLE_EQ(latLngAltitude->altitude, 0.0); +} + +static std::tuple<vec3, vec3, vec3> rotatedFrame(const std::array<double, 4>& quaternion) { + Quaternion q(quaternion); + return std::make_tuple( + q.transform({{1.0, 0.0, 0.0}}), q.transform({{0.0, -1.0, 0.0}}), q.transform({{0.0, 0.0, -1.0}})); +} + +TEST(FreeCameraOptions, LookAtPoint) { + FreeCameraOptions options; + vec3 right, up, forward; + const double cosPi4 = 1.0 / std::sqrt(2.0); + + // Pitch: 45, bearing: 0 + options.position = vec3{{0.5, 0.5, 0.5}}; + options.lookAtPoint({util::LATITUDE_MAX, 0.0}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, -cosPi4, cosPi4}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, -cosPi4, -cosPi4}})); + + // Look directly to east + options.position = vec3{{0.5, 0.5, 0.0}}; + options.lookAtPoint({0.0, 30.0}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{0.0, 1.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, 0.0, 1.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + + // Pitch: 0, bearing: 0 + options.setLocation({{60.1699, 24.9384}, 100.0}); + options.lookAtPoint({60.1699, 24.9384}, vec3{{0.0, -1.0, 0.0}}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, -1.0, 0.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, 0.0, -1.0}})); + + // Pitch: 0, bearing: 45 + options.setLocation({{60.1699, 24.9384}, 100.0}); + options.lookAtPoint({60.1699, 24.9384}, vec3{{-1.0, -1.0, 0.0}}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{cosPi4, -cosPi4, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{-cosPi4, -cosPi4, 0.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, 0.0, -1.0}})); + + // Looking south, up vector almost same as forward vector + options.setLocation({{37.7749, 122.4194}, 0.0}); + options.lookAtPoint({37.5, 122.4194}, vec3{{0.0, 1.0, 0.00001}}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{-1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, 0.0, 1.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, 1.0, 0.0}})); + + // Orientation with roll-component + options.setLocation({{-33.8688, 151.2093}, 0.0}); + options.lookAtPoint({-33.8688, 160.0}, vec3{{0.0, -1.0, 0.1}}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{0.0, 1.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, 0.0, 1.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + + // Up vector pointing downwards + options.position = vec3{{0.5, 0.5, 0.5}}; + options.lookAtPoint({util::LATITUDE_MAX, 0.0}, vec3{{0.0, 0.0, -0.5}}); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + + ASSERT_THAT(right, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, -cosPi4, cosPi4}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, -cosPi4, -cosPi4}})); +} + +TEST(FreeCameraOptions, LookAtPointInvalidInput) { + FreeCameraOptions options; + + // Position not set + options.orientation = vec4{{0.0, 0.0, 0.0, 0.0}}; + options.lookAtPoint({0.0, 0.0}); + ASSERT_FALSE(options.orientation); + + // Target same as position + options.orientation = vec4{{0.0, 0.0, 0.0, 0.0}}; + options.position = vec3{{0.5, 0.5, 0.0}}; + options.lookAtPoint({0.0, 0.0}); + ASSERT_FALSE(options.orientation); + + // Camera looking directly down without an explicit up vector + options.orientation = vec4{{0.0, 0.0, 0.0, 0.0}}; + options.position = vec3{{0.5, 0.5, 0.5}}; + options.lookAtPoint({0.0, 0.0}); + ASSERT_FALSE(options.orientation); + + // Zero up vector + options.orientation = vec4{{0.0, 0.0, 0.0, 0.0}}; + options.lookAtPoint({0.0, 0.0}, vec3{{0.0, 0.0, 0.0}}); + ASSERT_FALSE(options.orientation); + + // Up vector same as direction + options.orientation = vec4{{0.0, 0.0, 0.0, 0.0}}; + options.lookAtPoint({0.0, 0.0}, vec3{{0.0, 0.0, -1.0}}); + ASSERT_FALSE(options.orientation); +} + +TEST(FreeCameraOptions, SetPitchBearing) { + FreeCameraOptions options; + vec3 right, up, forward; + + options.setPitchBearing(0.0, 0.0); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + ASSERT_THAT(right, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, -1.0, 0.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, 0.0, -1.0}})); + + options.setPitchBearing(0.0, 180.0); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + ASSERT_THAT(right, Vec3NearEquals(vec3{{-1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, 1.0, 0.0}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, 0.0, -1.0}})); + + const double cos60 = std::cos(60.0 * util::DEG2RAD); + const double sin60 = std::sin(60.0 * util::DEG2RAD); + + options.setPitchBearing(60.0, 0.0); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + ASSERT_THAT(right, Vec3NearEquals(vec3{{1.0, 0.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{0.0, -cos60, sin60}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{0.0, -sin60, -cos60}})); + + options.setPitchBearing(60.0, -450); + ASSERT_TRUE(options.orientation); + std::tie(right, up, forward) = rotatedFrame(options.orientation.value()); + ASSERT_THAT(right, Vec3NearEquals(vec3{{0.0, 1.0, 0.0}})); + ASSERT_THAT(up, Vec3NearEquals(vec3{{cos60, 0.0, sin60}})); + ASSERT_THAT(forward, Vec3NearEquals(vec3{{sin60, 0.0, -cos60}})); +}
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