The open source OpenXR runtime
tests: Add case for Levenberg-Marquardt optimizer
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tests/CMakeLists.txt
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tests/CMakeLists.txt
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endif()
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set(tests
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tests_cxx_wrappers
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tests_generic_callbacks
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tests_history_buf
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tests_id_ringbuffer
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tests_input_transform
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tests_json
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tests_lowpass_float
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tests_lowpass_integer
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tests_pacing
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tests_quatexpmap
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tests_rational
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tests_worker
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tests_pose
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tests_cxx_wrappers
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tests_generic_callbacks
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tests_history_buf
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tests_id_ringbuffer
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tests_input_transform
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tests_json
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tests_lowpass_float
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tests_lowpass_integer
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tests_pacing
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tests_quatexpmap
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tests_rational
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tests_worker
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tests_pose
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)
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if(XRT_HAVE_D3D11)
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list(APPEND tests tests_aux_d3d tests_comp_client_d3d11)
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if(XRT_HAVE_VULKAN)
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list(APPEND tests tests_comp_client_vulkan)
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endif()
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foreach(testname ${tests})
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if(XRT_BUILD_DRIVER_HANDTRACKING)
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list(APPEND tests tests_levenbergmarquardt)
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endif()
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foreach(testname ${tests})
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add_executable(${testname} ${testname}.cpp)
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target_link_libraries(${testname} PRIVATE tests_main)
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target_link_libraries(${testname} PRIVATE aux_util)
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target_link_libraries(tests_quatexpmap PRIVATE aux_math)
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target_link_libraries(tests_rational PRIVATE aux_math)
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target_link_libraries(tests_pose PRIVATE aux_math)
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if(XRT_BUILD_DRIVER_HANDTRACKING)
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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)
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endif()
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if(XRT_HAVE_D3D11)
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target_link_libraries(tests_aux_d3d PRIVATE aux_d3d)
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tests/tests_levenbergmarquardt.cpp
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tests/tests_levenbergmarquardt.cpp
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// 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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}