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tests: Fix levenberg-marquardt test

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This commit is contained in:
Moshi Turner 2023-03-13 12:47:28 -05:00
parent 5503d75c43
commit c463214157
1 changed files with 27 additions and 3 deletions
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30
tests/tests_levenbergmarquardt.cpp
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@ -9,8 +9,10 @@
#include "util/u_logging.h"
#include "xrt/xrt_defines.h"
#include <util/u_worker.hpp>
#include <math/m_mathinclude.h>
#include <math/m_space.h>
#include <math/m_vec3.h>
#include <math/m_vec2.h>
#include "kine_common.hpp"
#include "lm_interface.hpp"
@ -34,6 +36,28 @@ TEST_CASE("LevenbergMarquardt")
struct one_frame_input input = {};
for (int view = 0; view < 2; view++) {
input.views[view].active = true;
input.views[view].stereographic_radius = 0.5;
input.views[view].look_dir = XRT_QUAT_IDENTITY;
for (int i = 0; i < 5; i++) {
input.views[view].curls[i].value = -0.5f;
input.views[view].curls[i].variance = 1.0f;
}
for (int i = 0; i < 21; i++) {
xrt_vec2 dir = {sinf(i), cosf(i)};
m_vec2_normalize(&dir);
input.views[view].keypoints_in_scaled_stereographic[i].pos_2d = dir; //{0,(float)i,-1};
input.views[view].keypoints_in_scaled_stereographic[i].depth_relative_to_midpxm =
(i / 21.0f) - 0.5;
input.views[view].keypoints_in_scaled_stereographic[i].confidence_depth = 1.0f;
input.views[view].keypoints_in_scaled_stereographic[i].confidence_xy = 1.0f;
}
}
lm::KinematicHandLM *hand;
xrt_pose left_in_right = XRT_POSE_IDENTITY;
@ -42,9 +66,9 @@ TEST_CASE("LevenbergMarquardt")
lm::optimizer_create(left_in_right, false, U_LOGGING_TRACE, &hand);
xrt_hand_joint_set out;
float out_hand_size;
float out_reprojection_error;
xrt_hand_joint_set out = {};
float out_hand_size = 0.0f;
float out_reprojection_error = 0.0f;
lm::optimizer_run(hand, //
input, //
true, //