Phase 11

tests/test_head_pose.py

@@ -0,0 +1,52 @@
+import math
+
+from src.config_loader import HeadPoseSettings
+from src.head_pose import HeadPoseEstimator
+from src.models import FaceLandmark
+
+
+def settings(max_angle: float = 90.0) -> HeadPoseSettings:
+    return HeadPoseSettings(True, "solvepnp", True, "ema", .4, max_angle)
+
+
+def landmarks() -> list[FaceLandmark]:
+    return [FaceLandmark(index, float(index), float(index + 1), 0.0)
+            for index in HeadPoseEstimator.LANDMARK_INDICES]
+
+
+def test_missing_landmarks_and_input_builders() -> None:
+    estimator = HeadPoseEstimator(settings())
+    assert estimator.estimate([], 640, 480).failure_reason == "insufficient_landmarks"
+    assert len(estimator.build_image_points(landmarks()) or []) == 6
+    matrix = estimator.build_camera_matrix(640, 480)
+    assert matrix == [[640.0, 0.0, 320.0], [0.0, 640.0, 240.0], [0.0, 0.0, 1.0]]
+
+
+def test_euler_conversion_returns_floats() -> None:
+    angles = HeadPoseEstimator.rotation_matrix_to_euler([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]])
+    assert all(isinstance(value, float) for value in angles)
+    assert angles == (0.0, -0.0, 0.0)
+
+
+def test_angle_range_validation() -> None:
+    estimator = HeadPoseEstimator(settings(45.0))
+    assert estimator.result_from_angles((10.0, 20.0, 5.0)).success
+    failed = estimator.result_from_angles((10.0, 60.0, 5.0))
+    assert failed.failure_reason == "angle_out_of_range"
+    assert (failed.pitch, failed.yaw, failed.roll) == (10.0, 60.0, 5.0)
+    assert estimator.result_from_angles((math.nan, 0.0, 0.0)).failure_reason == "angle_out_of_range"
+
+
+def test_face_model_uses_image_coordinate_y_direction() -> None:
+    _, chin, left_eye, right_eye, left_mouth, right_mouth = HeadPoseEstimator.MODEL_POINTS
+    assert chin[1] > 0
+    assert left_eye[1] < 0 and right_eye[1] < 0
+    assert left_mouth[1] > 0 and right_mouth[1] > 0
+
+
+def test_roll_near_180_is_canonicalized_for_upright_face() -> None:
+    estimator = HeadPoseEstimator(settings())
+    assert estimator.normalize_angles((2.0, -5.0, -170.0)) == (2.0, -5.0, 10.0)
+    assert estimator.normalize_angles((2.0, -5.0, 170.0)) == (2.0, -5.0, -10.0)
+    result = estimator.result_from_angles((2.0, -5.0, -170.0))
+    assert result.success and result.roll == 10.0