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61 lines
1.6 KiB
C++
61 lines
1.6 KiB
C++
// Copyright 2022, Collabora, Inc.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Test for Levenberg-Marquardt kinematic optimizer
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* @author Moses Turner <moses@collabora.com>
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* @author Ryan Pavlik <ryan.pavlik@collabora.com>
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*/
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#include "util/u_logging.h"
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#include "xrt/xrt_defines.h"
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#include <util/u_worker.hpp>
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#include <math/m_space.h>
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#include <math/m_vec3.h>
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#include "kine_common.hpp"
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#include "lm_interface.hpp"
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#include "catch/catch.hpp"
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#include <thread>
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#include <chrono>
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#include "fenv.h"
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using namespace xrt::tracking::hand::mercury;
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TEST_CASE("LevenbergMarquardt")
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{
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// This does very little at the moment:
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// * It will explode if any floating point exceptions are generated
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// * You should run it with `valgrind --track-origins=yes` (and compile without optimizations so that origin
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// tracking works well) to see if we are using any uninitialized values.
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fetestexcept(FE_ALL_EXCEPT);
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struct one_frame_input input = {};
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for (int i = 0; i < 21; i++) {
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input.views[0].rays[i] = m_vec3_normalize({0, (float)i, -1}); //{0,(float)i,-1};
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input.views[1].rays[i] = m_vec3_normalize({(float)i, 0, -1});
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input.views[0].confidences[i] = 1;
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input.views[1].confidences[i] = 1;
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}
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lm::KinematicHandLM *hand;
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xrt_pose left_in_right = XRT_POSE_IDENTITY;
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left_in_right.position.x = 1;
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lm::optimizer_create(left_in_right, false, U_LOGGING_TRACE, &hand);
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xrt_hand_joint_set out;
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float out_hand_size;
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float out_reprojection_error;
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lm::optimizer_run(hand, input, true, true, 0.09, 0.5, out, out_hand_size, out_reprojection_error);
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CHECK(std::isfinite(out_reprojection_error));
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CHECK(std::isfinite(out_hand_size));
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}
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