1 /* 2 * Copyright (c) 2015 The WebRTC project authors. All Rights Reserved. 3 * 4 * Use of this source code is governed by a BSD-style license 5 * that can be found in the LICENSE file in the root of the source 6 * tree. An additional intellectual property rights grant can be found 7 * in the file PATENTS. All contributing project authors may 8 * be found in the AUTHORS file in the root of the source tree. 9 */ 10 11 // MSVC++ requires this to be set before any other includes to get M_PI. 12 #define _USE_MATH_DEFINES 13 14 #include "webrtc/modules/audio_processing/beamformer/nonlinear_beamformer.h" 15 16 #include <math.h> 17 18 #include "testing/gtest/include/gtest/gtest.h" 19 20 namespace webrtc { 21 namespace { 22 23 const int kChunkSizeMs = 10; 24 const int kSampleRateHz = 16000; 25 26 SphericalPointf AzimuthToSphericalPoint(float azimuth_radians) { 27 return SphericalPointf(azimuth_radians, 0.f, 1.f); 28 } 29 30 void Verify(NonlinearBeamformer* bf, float target_azimuth_radians) { 31 EXPECT_TRUE(bf->IsInBeam(AzimuthToSphericalPoint(target_azimuth_radians))); 32 EXPECT_TRUE(bf->IsInBeam(AzimuthToSphericalPoint( 33 target_azimuth_radians - NonlinearBeamformer::kHalfBeamWidthRadians + 34 0.001f))); 35 EXPECT_TRUE(bf->IsInBeam(AzimuthToSphericalPoint( 36 target_azimuth_radians + NonlinearBeamformer::kHalfBeamWidthRadians - 37 0.001f))); 38 EXPECT_FALSE(bf->IsInBeam(AzimuthToSphericalPoint( 39 target_azimuth_radians - NonlinearBeamformer::kHalfBeamWidthRadians - 40 0.001f))); 41 EXPECT_FALSE(bf->IsInBeam(AzimuthToSphericalPoint( 42 target_azimuth_radians + NonlinearBeamformer::kHalfBeamWidthRadians + 43 0.001f))); 44 } 45 46 void AimAndVerify(NonlinearBeamformer* bf, float target_azimuth_radians) { 47 bf->AimAt(AzimuthToSphericalPoint(target_azimuth_radians)); 48 Verify(bf, target_azimuth_radians); 49 } 50 51 } // namespace 52 53 TEST(NonlinearBeamformerTest, AimingModifiesBeam) { 54 std::vector<Point> array_geometry; 55 array_geometry.push_back(Point(-0.025f, 0.f, 0.f)); 56 array_geometry.push_back(Point(0.025f, 0.f, 0.f)); 57 NonlinearBeamformer bf(array_geometry); 58 bf.Initialize(kChunkSizeMs, kSampleRateHz); 59 // The default constructor parameter sets the target angle to PI / 2. 60 Verify(&bf, static_cast<float>(M_PI) / 2.f); 61 AimAndVerify(&bf, static_cast<float>(M_PI) / 3.f); 62 AimAndVerify(&bf, 3.f * static_cast<float>(M_PI) / 4.f); 63 AimAndVerify(&bf, static_cast<float>(M_PI) / 6.f); 64 AimAndVerify(&bf, static_cast<float>(M_PI)); 65 } 66 67 TEST(NonlinearBeamformerTest, InterfAnglesTakeAmbiguityIntoAccount) { 68 { 69 // For linear arrays there is ambiguity. 70 std::vector<Point> array_geometry; 71 array_geometry.push_back(Point(-0.1f, 0.f, 0.f)); 72 array_geometry.push_back(Point(0.f, 0.f, 0.f)); 73 array_geometry.push_back(Point(0.2f, 0.f, 0.f)); 74 NonlinearBeamformer bf(array_geometry); 75 bf.Initialize(kChunkSizeMs, kSampleRateHz); 76 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 77 EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_, 78 bf.interf_angles_radians_[0]); 79 EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_, 80 bf.interf_angles_radians_[1]); 81 bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f)); 82 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 83 EXPECT_FLOAT_EQ(M_PI - bf.away_radians_ / 2.f, 84 bf.interf_angles_radians_[0]); 85 EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]); 86 } 87 { 88 // For planar arrays with normal in the xy-plane there is ambiguity. 89 std::vector<Point> array_geometry; 90 array_geometry.push_back(Point(-0.1f, 0.f, 0.f)); 91 array_geometry.push_back(Point(0.f, 0.f, 0.f)); 92 array_geometry.push_back(Point(0.2f, 0.f, 0.f)); 93 array_geometry.push_back(Point(0.1f, 0.f, 0.2f)); 94 array_geometry.push_back(Point(0.f, 0.f, -0.1f)); 95 NonlinearBeamformer bf(array_geometry); 96 bf.Initialize(kChunkSizeMs, kSampleRateHz); 97 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 98 EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_, 99 bf.interf_angles_radians_[0]); 100 EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_, 101 bf.interf_angles_radians_[1]); 102 bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f)); 103 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 104 EXPECT_FLOAT_EQ(M_PI - bf.away_radians_ / 2.f, 105 bf.interf_angles_radians_[0]); 106 EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]); 107 } 108 { 109 // For planar arrays with normal not in the xy-plane there is no ambiguity. 110 std::vector<Point> array_geometry; 111 array_geometry.push_back(Point(0.f, 0.f, 0.f)); 112 array_geometry.push_back(Point(0.2f, 0.f, 0.f)); 113 array_geometry.push_back(Point(0.f, 0.1f, -0.2f)); 114 NonlinearBeamformer bf(array_geometry); 115 bf.Initialize(kChunkSizeMs, kSampleRateHz); 116 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 117 EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_, 118 bf.interf_angles_radians_[0]); 119 EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_, 120 bf.interf_angles_radians_[1]); 121 bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f)); 122 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 123 EXPECT_FLOAT_EQ(-bf.away_radians_ / 2.f, bf.interf_angles_radians_[0]); 124 EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]); 125 } 126 { 127 // For arrays which are not linear or planar there is no ambiguity. 128 std::vector<Point> array_geometry; 129 array_geometry.push_back(Point(0.f, 0.f, 0.f)); 130 array_geometry.push_back(Point(0.1f, 0.f, 0.f)); 131 array_geometry.push_back(Point(0.f, 0.2f, 0.f)); 132 array_geometry.push_back(Point(0.f, 0.f, 0.3f)); 133 NonlinearBeamformer bf(array_geometry); 134 bf.Initialize(kChunkSizeMs, kSampleRateHz); 135 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 136 EXPECT_FLOAT_EQ(M_PI / 2.f - bf.away_radians_, 137 bf.interf_angles_radians_[0]); 138 EXPECT_FLOAT_EQ(M_PI / 2.f + bf.away_radians_, 139 bf.interf_angles_radians_[1]); 140 bf.AimAt(AzimuthToSphericalPoint(bf.away_radians_ / 2.f)); 141 EXPECT_EQ(2u, bf.interf_angles_radians_.size()); 142 EXPECT_FLOAT_EQ(-bf.away_radians_ / 2.f, bf.interf_angles_radians_[0]); 143 EXPECT_FLOAT_EQ(3.f * bf.away_radians_ / 2.f, bf.interf_angles_radians_[1]); 144 } 145 } 146 147 } // namespace webrtc 148
