Add Levenberg-Marquardt optimizer and tons of other fixes to Mercury tracking
Merge request reports
Activity
assigned to @slitcch
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
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); changed this line in version 16 of the diff
Okay I have to say that I'm not sure how to do that - I don't see a zero-overhead way of defining an "opaque" class besides maybe https://gist.github.com/keebus/16a0ecd764f849207dd21c921d3bc6db, and either of the ways it proposes look annoying
- Resolved by Moshi Turner
- Resolved by Moshi Turner
- Resolved by Moshi Turner
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]) changed this line in version 16 of the diff
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
Toggle commit list