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Add Levenberg-Marquardt optimizer and tons of other fixes to Mercury tracking

Merged Moshi Turner requested to merge slitcch/monado:mt/ht-levenbergmarquardt into main

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  • Rylie Pavlik
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  • 39 39 }
    40 40
    41 41 void
    42 _statics_init_world_parents(kinematic_hand_4f *hand)
    42 _statics_init_world_parents(KinematicHandCCDIK *hand)
  • Rylie Pavlik
  • 25 lm_reinit_kinematic_hand(KinematicHandLM *kinematic_hand);
    26
    27 // Warning: This will do weird things to your observation - it's *not* const, and after you run it treat that as
    28 // garbage.
    29 // Returns reprojection error.
    30 float
    31 lm_optimize_new_frame(KinematicHandLM *hand,
    32 one_frame_input &observation,
    33 bool optimize_hand_size,
    34 float target_hand_size,
    35 float hand_size_err_mul,
    36 xrt_hand_joint_set &out_viz_hand,
    37 float &out_hand_size);
    38
    39 void
    40 lm_free_kinematic_hand(KinematicHandLM **hand);
  • Rylie Pavlik
  • Rylie Pavlik
  • Moshi Turner added 2 commits

    added 2 commits

    • 018e9825 - h/mercury: Better constexpr input size and residual size calculations
    • 71bf44ef - Formatting

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  • Rylie Pavlik
  • 79 out_pos[2] = length;
    80 }
    81
    82 template <typename T>
    83 inline void
    84 set_finger_metacarpal_trans(T x, T y, T z, T hand_size, T out_pos[3])
    85 {
    86 out_pos[0] = x;
    87 out_pos[1] = y;
    88 out_pos[2] = z;
    89 }
    90
    91
    92 template <typename T>
    93 inline void
    94 eval_hand_set_rel_translations(const OptimizerHand<T> &opt, T rel_translations[5][5][3])
  • Moshi Turner added 10 commits

    added 10 commits

    • 3963a691 - external: add tinyceres
    • e86ed788 - Unsquashed CMake fixup
    • c6b2f81d - Add levenberg-marquardt optimizer!
    • 5cb9c180 - make state machine better, prep for hand size calibration
    • d4eb3cb3 - this should make hand size calibration decent
    • 6b0f58c3 - spellcheck, make hand size calibration work,
    • 6aebccc9 - Code cleanup
    • c6e1be2e - h/mercury: Better constexpr input size and residual size calculations
    • 85e2c339 - Formatting
    • effbc445 - Unsquashed fixup for historybuf

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