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tests: Add case for Levenberg-Marquardt optimizer

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This commit is contained in:
Moses Turner 2022-06-20 14:36:03 +01:00
parent 73dbc712ab
commit b4a29e8b29
2 changed files with 81 additions and 14 deletions
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9
tests/CMakeLists.txt
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@ -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)

60
tests/tests_levenbergmarquardt.cpp Normal file
View file

@ -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));
}