The open source OpenXR runtime
tests: Fix levenberg-marquardt test
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tests/tests_levenbergmarquardt.cpp
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tests/tests_levenbergmarquardt.cpp
···
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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_mathinclude.h>
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#include <math/m_space.h>
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#include <math/m_vec3.h>
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#include <math/m_vec2.h>
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#include "kine_common.hpp"
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#include "lm_interface.hpp"
···
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struct one_frame_input input = {};
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for (int view = 0; view < 2; view++) {
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input.views[view].active = true;
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input.views[view].stereographic_radius = 0.5;
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input.views[view].look_dir = XRT_QUAT_IDENTITY;
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for (int i = 0; i < 5; i++) {
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input.views[view].curls[i].value = -0.5f;
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input.views[view].curls[i].variance = 1.0f;
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}
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for (int i = 0; i < 21; i++) {
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xrt_vec2 dir = {sinf(i), cosf(i)};
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m_vec2_normalize(&dir);
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input.views[view].keypoints_in_scaled_stereographic[i].pos_2d = dir; //{0,(float)i,-1};
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input.views[view].keypoints_in_scaled_stereographic[i].depth_relative_to_midpxm =
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(i / 21.0f) - 0.5;
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input.views[view].keypoints_in_scaled_stereographic[i].confidence_depth = 1.0f;
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input.views[view].keypoints_in_scaled_stereographic[i].confidence_xy = 1.0f;
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}
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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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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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xrt_hand_joint_set out = {};
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float out_hand_size = 0.0f;
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float out_reprojection_error = 0.0f;
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lm::optimizer_run(hand, //
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input, //
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true, //