diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index f227c2b86..8bb004adf 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -10,19 +10,19 @@ if(ANDROID)
 endif()
 
 set(tests
-    tests_cxx_wrappers
-    tests_generic_callbacks
-    tests_history_buf
-    tests_id_ringbuffer
-    tests_input_transform
-    tests_json
-    tests_lowpass_float
-    tests_lowpass_integer
-    tests_pacing
-    tests_quatexpmap
-    tests_rational
-    tests_worker
-    tests_pose
+	tests_cxx_wrappers
+	tests_generic_callbacks
+	tests_history_buf
+	tests_id_ringbuffer
+	tests_input_transform
+	tests_json
+	tests_lowpass_float
+	tests_lowpass_integer
+	tests_pacing
+	tests_quatexpmap
+	tests_rational
+	tests_worker
+	tests_pose
 	)
 if(XRT_HAVE_D3D11)
 	list(APPEND tests tests_aux_d3d tests_comp_client_d3d11)
@@ -30,8 +30,11 @@ endif()
 if(XRT_HAVE_VULKAN)
 	list(APPEND tests tests_comp_client_vulkan)
 endif()
-foreach(testname ${tests})
+if(XRT_BUILD_DRIVER_HANDTRACKING)
+	list(APPEND tests tests_levenbergmarquardt)
+endif()
 
+foreach(testname ${tests})
 	add_executable(${testname} ${testname}.cpp)
 	target_link_libraries(${testname} PRIVATE tests_main)
 	target_link_libraries(${testname} PRIVATE aux_util)
@@ -49,6 +52,10 @@ target_link_libraries(tests_quatexpmap PRIVATE aux_math)
 target_link_libraries(tests_rational PRIVATE aux_math)
 target_link_libraries(tests_pose PRIVATE aux_math)
 
+if(XRT_BUILD_DRIVER_HANDTRACKING)
+	target_link_libraries(tests_levenbergmarquardt PRIVATE aux_math t_ht_mercury_includes t_ht_mercury_kine_lm_includes  t_ht_mercury t_ht_mercury_kine_lm)
+endif()
+
 if(XRT_HAVE_D3D11)
 	target_link_libraries(tests_aux_d3d PRIVATE aux_d3d)
 	target_link_libraries(tests_comp_client_d3d11 PRIVATE comp_client comp_mock)
diff --git a/tests/tests_levenbergmarquardt.cpp b/tests/tests_levenbergmarquardt.cpp
new file mode 100644
index 000000000..f9b0a9076
--- /dev/null
+++ b/tests/tests_levenbergmarquardt.cpp
@@ -0,0 +1,60 @@
+// Copyright 2022, Collabora, Inc.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief Test for Levenberg-Marquardt kinematic optimizer
+ * @author Moses Turner <moses@collabora.com>
+ * @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ */
+#include "util/u_logging.h"
+#include "xrt/xrt_defines.h"
+#include <util/u_worker.hpp>
+#include <math/m_space.h>
+#include <math/m_vec3.h>
+
+#include "kine_common.hpp"
+#include "lm_interface.hpp"
+
+#include "catch/catch.hpp"
+
+#include <thread>
+#include <chrono>
+#include "fenv.h"
+
+using namespace xrt::tracking::hand::mercury;
+
+TEST_CASE("LevenbergMarquardt")
+{
+	// This does very little at the moment:
+	// * It will explode if any floating point exceptions are generated
+	// * You should run it with `valgrind --track-origins=yes` (and compile without optimizations so that origin
+	// tracking works well) to see if we are using any uninitialized values.
+
+	fetestexcept(FE_ALL_EXCEPT);
+
+	struct one_frame_input input = {};
+
+	for (int i = 0; i < 21; i++) {
+
+		input.views[0].rays[i] = m_vec3_normalize({0, (float)i, -1}); //{0,(float)i,-1};
+		input.views[1].rays[i] = m_vec3_normalize({(float)i, 0, -1});
+		input.views[0].confidences[i] = 1;
+		input.views[1].confidences[i] = 1;
+	}
+
+	lm::KinematicHandLM *hand;
+
+	xrt_pose left_in_right = XRT_POSE_IDENTITY;
+	left_in_right.position.x = 1;
+
+	lm::optimizer_create(left_in_right, false, U_LOGGING_TRACE, &hand);
+
+
+	xrt_hand_joint_set out;
+	float out_hand_size;
+	float out_reprojection_error;
+	lm::optimizer_run(hand, input, true, true, 0.09, 0.5, out, out_hand_size, out_reprojection_error);
+
+	CHECK(std::isfinite(out_reprojection_error));
+	CHECK(std::isfinite(out_hand_size));
+}