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/*
* Copyright (c) 2015 The WebRTC project authors. All Rights Reserved.
*
* Use of this source code is governed by a BSD-style license
* that can be found in the LICENSE file in the root of the source
* tree. An additional intellectual property rights grant can be found
* in the file PATENTS. All contributing project authors may
* be found in the AUTHORS file in the root of the source tree.
*/
// MSVC++ requires this to be set before any other includes to get M_PI.
#define _USE_MATH_DEFINES
#include "webrtc/modules/audio_processing/beamformer/nonlinear_beamformer.h"
#include <math.h>
#include "testing/gtest/include/gtest/gtest.h"
namespace webrtc {
namespace {
const int kChunkSizeMs = 10;
const int kSampleRateHz = 16000;
SphericalPointf AzimuthToSphericalPoint(float azimuth_radians) {
return SphericalPointf(azimuth_radians, 0.f, 1.f);
}
void Verify(NonlinearBeamformer* bf, float target_azimuth_radians) {
EXPECT_TRUE(bf->IsInBeam(AzimuthToSphericalPoint(target_azimuth_radians)));
EXPECT_TRUE(bf->IsInBeam(AzimuthToSphericalPoint(
target_azimuth_radians - NonlinearBeamformer::kHalfBeamWidthRadians +
0.001f)));
EXPECT_TRUE(bf->IsInBeam(AzimuthToSphericalPoint(
target_azimuth_radians + NonlinearBeamformer::kHalfBeamWidthRadians -
0.001f)));
EXPECT_FALSE(bf->IsInBeam(AzimuthToSphericalPoint(
target_azimuth_radians - NonlinearBeamformer::kHalfBeamWidthRadians -
0.001f)));
EXPECT_FALSE(bf->IsInBeam(AzimuthToSphericalPoint(
target_azimuth_radians + NonlinearBeamformer::kHalfBeamWidthRadians +
0.001f)));
}
void AimAndVerify(NonlinearBeamformer* bf, float target_azimuth_radians) {
bf->AimAt(AzimuthToSphericalPoint(target_azimuth_radians));
Verify(bf, target_azimuth_radians);
}
} // namespace
TEST(NonlinearBeamformerTest, AimingModifiesBeam) {
std::vector<Point> array_geometry;
array_geometry.push_back(Point(-0.025f, 0.f, 0.f));
array_geometry.push_back(Point(0.025f, 0.f, 0.f));
NonlinearBeamformer bf(array_geometry);
bf.Initialize(kChunkSizeMs, kSampleRateHz);
// The default constructor parameter sets the target angle to PI / 2.
Verify(&bf, static_cast<float>(M_PI) / 2.f);
AimAndVerify(&bf, static_cast<float>(M_PI) / 3.f);
AimAndVerify(&bf, 3.f * static_cast<float>(M_PI) / 4.f);
AimAndVerify(&bf, static_cast<float>(M_PI) / 6.f);
AimAndVerify(&bf, static_cast<float>(M_PI));
}
TEST(NonlinearBeamformerTest, InterfAnglesTakeAmbiguityIntoAccount) {
{
// For linear arrays there is ambiguity.
std::vector<Point> array_geometry;
array_geometry.push_back(Point(-0.1f, 0.f, 0.f));
array_geometry.push_back(Point(0.f, 0.f, 0.f));
array_geometry.push_back(Point(0.2f, 0.f, 0.f));
NonlinearBeamformer bf(array_geometry);
bf.Initialize(kChunkSizeMs, kSampleRateHz);
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_,
bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_,
bf.interf_angles_radians_[1]);
bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f));
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(M_PI - bf.away_radians_ / 2.f,
bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]);
}
{
// For planar arrays with normal in the xy-plane there is ambiguity.
std::vector<Point> array_geometry;
array_geometry.push_back(Point(-0.1f, 0.f, 0.f));
array_geometry.push_back(Point(0.f, 0.f, 0.f));
array_geometry.push_back(Point(0.2f, 0.f, 0.f));
array_geometry.push_back(Point(0.1f, 0.f, 0.2f));
array_geometry.push_back(Point(0.f, 0.f, -0.1f));
NonlinearBeamformer bf(array_geometry);
bf.Initialize(kChunkSizeMs, kSampleRateHz);
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_,
bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_,
bf.interf_angles_radians_[1]);
bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f));
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(M_PI - bf.away_radians_ / 2.f,
bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]);
}
{
// For planar arrays with normal not in the xy-plane there is no ambiguity.
std::vector<Point> array_geometry;
array_geometry.push_back(Point(0.f, 0.f, 0.f));
array_geometry.push_back(Point(0.2f, 0.f, 0.f));
array_geometry.push_back(Point(0.f, 0.1f, -0.2f));
NonlinearBeamformer bf(array_geometry);
bf.Initialize(kChunkSizeMs, kSampleRateHz);
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_,
bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_,
bf.interf_angles_radians_[1]);
bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f));
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(-bf.away_radians_ / 2.f, bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]);
}
{
// For arrays which are not linear or planar there is no ambiguity.
std::vector<Point> array_geometry;
array_geometry.push_back(Point(0.f, 0.f, 0.f));
array_geometry.push_back(Point(0.1f, 0.f, 0.f));
array_geometry.push_back(Point(0.f, 0.2f, 0.f));
array_geometry.push_back(Point(0.f, 0.f, 0.3f));
NonlinearBeamformer bf(array_geometry);
bf.Initialize(kChunkSizeMs, kSampleRateHz);
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_,
bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_,
bf.interf_angles_radians_[1]);
bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f));
EXPECT_EQ(2u, bf.interf_angles_radians_.size());
EXPECT_FLOAT_EQ(-bf.away_radians_ / 2.f, bf.interf_angles_radians_[0]);
EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]);
}
}
} // namespace webrtc
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