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core, android: add support for camera roll (#3011)

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This commit is contained in:
Nathan Olson
2026-01-20 00:57:48 -08:00
committed by GitHub
parent a4cf4d3ffa
commit 10dbd5d68d
57 changed files with 1275 additions and 207 deletions
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142
test/map/transform.test.cpp
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@@ -916,7 +916,6 @@ TEST(Transform, MinMaxPitch) {
transform.setMaxPitch(70);
transform.jumpTo(CameraOptions().withPitch(70));
ASSERT_DOUBLE_EQ(transform.getState().getMaxPitch(), transform.getPitch());
ASSERT_DOUBLE_EQ(util::deg2rad(60), transform.getPitch());
transform.setMaxPitch(45);
transform.jumpTo(CameraOptions().withPitch(60));
@@ -1012,6 +1011,27 @@ TEST(Transform, FreeCameraOptionsInvalidZ) {
EXPECT_LE(transform.getFreeCameraOptions().position.value()[2], 1.0);
}
TEST(Transform, FreeCameraOptionsHighPitch) {
Transform transform;
transform.resize({100, 100});
transform.setMaxPitch(180.0);
FreeCameraOptions options;
options.position = vec3{{0.1, 0.1, 0.1}};
options.orientation = Quaternion::fromAxisAngle(vec3{{1.0, 0.0, 0.0}}, util::deg2rad(-90.0)).m;
transform.setFreeCameraOptions(options);
EXPECT_DOUBLE_EQ(util::deg2rad(90.0), transform.getState().getPitch());
EXPECT_DOUBLE_EQ(0.0, transform.getState().getBearing());
EXPECT_THAT(transform.getFreeCameraOptions().position.value(), Vec3NearEquals1E5(vec3{{0.1, 0.1, 0.1}}));
options.position = vec3{{0.1, 0.1, 0.1}};
options.orientation = Quaternion::fromAxisAngle(vec3{{1.0, 0.0, 0.0}}, util::deg2rad(-135.0)).m;
transform.setFreeCameraOptions(options);
EXPECT_DOUBLE_EQ(util::deg2rad(135.0), transform.getState().getPitch());
EXPECT_DOUBLE_EQ(0.0, transform.getState().getBearing());
EXPECT_THAT(transform.getFreeCameraOptions().position.value(), Vec3NearEquals1E5(vec3{{0.1, 0.1, 0.1}}));
}
TEST(Transform, FreeCameraOptionsInvalidOrientation) {
// Invalid orientations that cannot be clamped into a valid range
Transform transform;
@@ -1023,14 +1043,21 @@ TEST(Transform, FreeCameraOptionsInvalidOrientation) {
EXPECT_EQ(Quaternion::identity.m, transform.getFreeCameraOptions().orientation);
// Gimbal lock. Both forward and up vectors are on xy-plane
transform.setMaxPitch(180.0);
options.orientation = Quaternion::fromAxisAngle(vec3{{0.0, 1.0, 0.0}}, pi / 2).m;
transform.setFreeCameraOptions(options);
EXPECT_EQ(Quaternion::identity.m, transform.getFreeCameraOptions().orientation);
for (int i = 0; i < 4; i++) {
EXPECT_NEAR(Quaternion::fromEulerAngles(pi / 2, pi / 2, pi / 2).m[i],
transform.getFreeCameraOptions().orientation.value()[i],
1.0e-12);
}
// Camera is upside down
options.orientation = Quaternion::fromAxisAngle(vec3{{1.0, 0.0, 0.0}}, pi / 2 + pi / 4).m;
transform.setFreeCameraOptions(options);
EXPECT_EQ(Quaternion::identity.m, transform.getFreeCameraOptions().orientation);
for (int i = 0; i < 4; i++) {
EXPECT_NEAR(options.orientation.value()[i], transform.getFreeCameraOptions().orientation.value()[i], 1.0e-12);
}
}
TEST(Transform, FreeCameraOptionsSetOrientation) {
@@ -1056,6 +1083,7 @@ TEST(Transform, FreeCameraOptionsSetOrientation) {
transform.setFreeCameraOptions(options);
EXPECT_DOUBLE_EQ(util::deg2rad(-56.0), transform.getState().getBearing());
EXPECT_DOUBLE_EQ(0.0, transform.getState().getPitch());
EXPECT_DOUBLE_EQ(0.0, transform.getState().getRoll());
EXPECT_DOUBLE_EQ(0.0, transform.getState().getX());
EXPECT_NEAR(152.192378, transform.getState().getY(), 1e-6);
@@ -1067,6 +1095,15 @@ TEST(Transform, FreeCameraOptionsSetOrientation) {
EXPECT_DOUBLE_EQ(util::deg2rad(30.0), transform.getState().getPitch());
EXPECT_NEAR(1.308930, transform.getState().getX(), 1e-6);
EXPECT_NEAR(56.813889, transform.getState().getY(), 1e-6);
options.orientation = Quaternion::fromAxisAngle(vec3{{0.0, 0.0, 1.0}}, util::deg2rad(-33.0))
.multiply(Quaternion::fromAxisAngle(vec3{{1.0, 0.0, 0.0}}, util::deg2rad(-22.0)))
.multiply(Quaternion::fromAxisAngle(vec3{{0.0, 0.0, 1.0}}, util::deg2rad(11.0)))
.m;
transform.setFreeCameraOptions(options);
EXPECT_DOUBLE_EQ(util::deg2rad(33.0), transform.getState().getBearing());
EXPECT_DOUBLE_EQ(util::deg2rad(22.0), transform.getState().getPitch());
EXPECT_FLOAT_EQ(util::deg2rad(11.0), transform.getState().getRoll());
}
static std::tuple<vec3, vec3, vec3> rotatedFrame(const std::array<double, 4>& quaternion) {
@@ -1075,21 +1112,6 @@ static std::tuple<vec3, vec3, vec3> rotatedFrame(const std::array<double, 4>& qu
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(Transform, FreeCameraOptionsClampPitch) {
Transform transform;
transform.resize({100, 100});
FreeCameraOptions options;
vec3 right, up, forward;
options.orientation = Quaternion::fromAxisAngle(vec3{{1.0, 0.0, 0.0}}, util::deg2rad(-85.0)).m;
transform.setFreeCameraOptions(options);
EXPECT_DOUBLE_EQ(util::PITCH_MAX, transform.getState().getPitch());
std::tie(right, up, forward) = rotatedFrame(transform.getFreeCameraOptions().orientation.value());
EXPECT_THAT(right, Vec3NearEquals1E5(vec3{{1.0, 0.0, 0.0}}));
EXPECT_THAT(up, Vec3NearEquals1E5(vec3{{0, -0.5, 0.866025}}));
EXPECT_THAT(forward, Vec3NearEquals1E5(vec3{{0, -0.866025, -0.5}}));
}
TEST(Transform, FreeCameraOptionsClampToBounds) {
Transform transform;
transform.resize({100, 100});
@@ -1130,29 +1152,6 @@ TEST(Transform, FreeCameraOptionsInvalidState) {
EXPECT_THAT(options.position.value(), Vec3NearEquals1E5(vec3{{0.0, 0.0, 0.0}}));
}
TEST(Transform, FreeCameraOptionsOrientationRoll) {
Transform transform;
FreeCameraOptions options;
transform.resize({100, 100});
const auto orientationWithoutRoll = Quaternion::fromEulerAngles(-pi / 4, 0.0, 0.0);
const auto orientationWithRoll = orientationWithoutRoll.multiply(Quaternion::fromEulerAngles(0.0, 0.0, pi / 4));
options.orientation = orientationWithRoll.m;
transform.setFreeCameraOptions(options);
options = transform.getFreeCameraOptions();
EXPECT_NEAR(options.orientation.value()[0], orientationWithoutRoll.x, 1e-9);
EXPECT_NEAR(options.orientation.value()[1], orientationWithoutRoll.y, 1e-9);
EXPECT_NEAR(options.orientation.value()[2], orientationWithoutRoll.z, 1e-9);
EXPECT_NEAR(options.orientation.value()[3], orientationWithoutRoll.w, 1e-9);
EXPECT_NEAR(util::deg2rad(45.0), transform.getState().getPitch(), 1e-9);
EXPECT_NEAR(0.0, transform.getState().getBearing(), 1e-9);
EXPECT_NEAR(0.0, transform.getState().getX(), 1e-9);
EXPECT_NEAR(150.0, transform.getState().getY(), 1e-9);
}
TEST(Transform, FreeCameraOptionsStateSynchronization) {
Transform transform;
transform.resize({100, 100});
@@ -1172,20 +1171,49 @@ TEST(Transform, FreeCameraOptionsStateSynchronization) {
transform.jumpTo(CameraOptions().withPitch(20.0).withBearing(77.0).withCenter(LatLng{-20.0, 20.0}));
EXPECT_THAT(transform.getFreeCameraOptions().position.value(),
Vec3NearEquals1E5(vec3{{0.457922, 0.57926, 0.275301}}));
// Invalid pitch
transform.jumpTo(CameraOptions().withPitch(-10.0).withBearing(0.0));
std::tie(right, up, forward) = rotatedFrame(transform.getFreeCameraOptions().orientation.value());
EXPECT_THAT(transform.getFreeCameraOptions().position.value(),
Vec3NearEquals1E5(vec3{{0.555556, 0.556719, 0.292969}}));
EXPECT_THAT(right, Vec3NearEquals1E5(vec3{{1.0, 0.0, 0.0}}));
EXPECT_THAT(up, Vec3NearEquals1E5(vec3{{0.0, -1.0, 0.0}}));
EXPECT_THAT(forward, Vec3NearEquals1E5(vec3{{0.0, 0.0, -1.0}}));
transform.jumpTo(CameraOptions().withPitch(85.0).withBearing(0.0).withCenter(LatLng{-80.0, 0.0}));
std::tie(right, up, forward) = rotatedFrame(transform.getFreeCameraOptions().orientation.value());
EXPECT_THAT(transform.getFreeCameraOptions().position.value(), Vec3NearEquals1E5(vec3{{0.5, 1.14146, 0.146484}}));
EXPECT_THAT(right, Vec3NearEquals1E5(vec3{{1.0, 0.0, 0.0}}));
EXPECT_THAT(up, Vec3NearEquals1E5(vec3{{0, -0.5, 0.866025}}));
EXPECT_THAT(forward, Vec3NearEquals1E5(vec3{{0, -0.866025, -0.5}}));
}
TEST(Camera, SetOrientation) {
util::Camera camera;
const double bearing = 0.22;
const double pitch = 0.34;
const double roll = 0.0;
double bearing_ = 0;
double pitch_ = 0;
double roll_ = 0;
camera.setOrientation(roll, pitch, bearing);
camera.getOrientation(roll_, pitch_, bearing_);
EXPECT_NEAR(bearing, bearing_, 1.0e-9);
EXPECT_NEAR(pitch, pitch_, 1.0e-9);
EXPECT_NEAR(roll, roll_, 1.0e-9);
}
TEST(Camera, SetOrientationWithRoll) {
util::Camera camera;
const double bearing = 0.22;
const double pitch = 0.34;
const double roll = 0.45;
double bearing_ = 0;
double pitch_ = 0;
double roll_ = 0;
camera.setOrientation(roll, pitch, bearing);
camera.getOrientation(roll_, pitch_, bearing_);
EXPECT_NEAR(bearing, bearing_, 1.0e-9);
EXPECT_NEAR(pitch, pitch_, 1.0e-9);
EXPECT_NEAR(roll, roll_, 1.0e-9);
}
TEST(Camera, SetOrientationWithRollNoPitch) {
util::Camera camera;
const double bearing = 0.22;
const double pitch = 0.0;
const double roll = 0.45;
double bearing_ = 0;
double pitch_ = 0;
double roll_ = 0;
camera.setOrientation(roll, pitch, bearing);
camera.getOrientation(roll_, pitch_, bearing_);
EXPECT_NEAR(bearing - roll, bearing_, 1.0e-9);
EXPECT_NEAR(pitch, pitch_, 1.0e-9);
EXPECT_NEAR(0.0, roll_, 1.0e-9);
}