File size: 2,952 Bytes
570b87b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 | """Rotation + iterative RNN-stub motion tests."""
from __future__ import annotations
import sys
from pathlib import Path
import numpy as np
sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
from hoa64.analysis import angular_error_deg, doa_from_intensity, peak_direction
from hoa64.encode import encode_points
from hoa64.rotate import (
rotate_matrix_order1,
rotate_source_directions,
rotate_yaw_pitch_roll,
)
from hoa64.rnn_stub import step_rotate, world_from_sources
def test_order1_yaw_matches_reencode():
a = encode_points([0.0], [0.0], [1.0])
# rotate field +90° yaw: front → left
a_fast = rotate_matrix_order1(a, yaw=90.0)
az, el = doa_from_intensity(a_fast)
err = angular_error_deg(90.0, 0.0, az, el)
assert err < 1.0, f"intensity DOA after yaw90: ({az},{el}) err={err}"
def test_source_dir_rotation_exact_reencode():
"""Ground truth: rotate source coordinates, re-encode."""
az0, el0 = 20.0, -10.0
a0 = encode_points([az0], [el0], [1.0])
az1, el1 = rotate_source_directions(az0, el0, yaw=45.0)
a1 = encode_points([float(az1)], [float(el1)], [1.0])
# dense rotate of a0 by same yaw should ≈ a1 for low orders
a_rot = rotate_yaw_pitch_roll(a0, yaw=45.0, max_order=3, n_azi=120, n_el=60)
# compare order ≤ 3 channels
nch = 16
rel = np.linalg.norm(a_rot[:nch] - a1[:nch]) / (np.linalg.norm(a1[:nch]) + 1e-12)
assert rel < 0.15, f"relative L2 order≤3 after rotate: {rel}"
def test_rnn_loop_keeps_tracking_after_turns():
"""Agent turns through 360° in steps; peak should stay world-stable in intensity
when we interpret DOA in head frame correctly.
After total yaw +90 (agent turns left), a world-front source is at head-right
(−90) in listener frame if field is counter-rotated.
"""
st = world_from_sources([0.0], [0.0], [1.0])
# 6 steps of +15° agent yaw
for _ in range(6):
st = step_rotate(st, d_yaw=15.0, max_order=3, dense=True)
assert abs(st.yaw - 90.0) < 1e-9
az, el = doa_from_intensity(st.hoa)
# front source, agent yawed +90 → source appears at az=-90 (right)
err = angular_error_deg(-90.0, 0.0, az, el)
assert err < 8.0, f"after +90 agent yaw, head-frame DOA=({az},{el}) err={err}"
def test_iterative_path_energy_stable_order1():
st = world_from_sources([45.0], [0.0], [1.0])
e0 = float(np.dot(st.hoa[:4], st.hoa[:4]))
for _ in range(24):
st = step_rotate(st, d_yaw=15.0, max_order=1, dense=False)
e1 = float(np.dot(st.hoa[:4], st.hoa[:4]))
# full 360° of order-1 rotations should preserve energy exactly
assert abs(e1 - e0) / e0 < 1e-9
if __name__ == "__main__":
for fn in [
test_order1_yaw_matches_reencode,
test_source_dir_rotation_exact_reencode,
test_rnn_loop_keeps_tracking_after_turns,
test_iterative_path_energy_stable_order1,
]:
fn()
print("OK", fn.__name__)
|