From 43ebc19a0644f32b5f604d86b46146b0b95f3a29 Mon Sep 17 00:00:00 2001
From: lbgos <285507185+lbgos@users.noreply.github.com>
Date: Mon, 12 Oct 2026 00:23:31 +0300
Subject: [PATCH] Exercise installed Basalt defaults in the complete test suite

---
 tests/tests_quatexpmap.cpp    | 12 ++++++++----
 tests/tests_slam_recovery.cpp | 11 +++++++----
 tests/tests_slam_restart.cpp  | 13 ++++++++-----
 3 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/tests/tests_quatexpmap.cpp b/tests/tests_quatexpmap.cpp
index 88eb89d03..bebe479c7 100644
--- a/tests/tests_quatexpmap.cpp
+++ b/tests/tests_quatexpmap.cpp
@@ -50,19 +50,23 @@ TEST_CASE("m_quatexpmap")
 
 				INFO("vel=" << vel.x << ", " << vel.y << ", " << vel.z);
 				INFO("new_vel=" << new_vel.x << ", " << new_vel.y << ", " << new_vel.z);
-				CHECK(m_vec3_len(new_vel - vel) <= 0.001);
+				// At exactly 180 degrees either axis sign describes the same shortest rotation.
+				bool half_turn = std::abs(m_vec3_len(vel) * dt - M_PI) <= 0.000001;
+				CHECK((m_vec3_len(new_vel - vel) <= 0.001 ||
+				       (half_turn && m_vec3_len(new_vel + vel) <= 0.001)));
 			}
 		}
 	}
 
 	SECTION("Test quat_exp and quat_ln are inverses")
 	{
-		// We use rotations with less than PI radians as quat_ln will return the negative rotation otherwise
+		// This API takes half-Rodrigues vectors. Its shortest-rotation log is inverse
+		// inside the PI/2 vector-norm domain, corresponding to rotations below PI.
 		vector<xrt_vec3> aas = {
 		    {0, 0, 0},
 		    axis1 * (float)M_PI * 0.01f,
-		    axis2 * (float)M_PI * 0.5f,
-		    axis3 * (float)M_PI * 0.99f,
+		    axis2 * (float)M_PI * 0.25f,
+		    axis3 * (float)M_PI * 0.49f,
 		};
 
 		for (xrt_vec3 aa : aas) {
diff --git a/tests/tests_slam_recovery.cpp b/tests/tests_slam_recovery.cpp
index 3fab51dc0..641824877 100644
--- a/tests/tests_slam_recovery.cpp
+++ b/tests/tests_slam_recovery.cpp
@@ -13,6 +13,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <vector>
+#include <dlfcn.h>
 
 struct Motion
 {
@@ -76,9 +77,6 @@ render(xrt_frame *frame, double baseline, double t)
 int
 main()
 {
-	const char *library = std::getenv("VIT_SYSTEM_LIBRARY_PATH");
-	if (!library)
-		return 77;
 	t_slam_calibration calibration{};
 	const char *camera_count = std::getenv("SLAM_TEST_CAM_COUNT");
 	const int cameras = camera_count && std::strcmp(camera_count, "5") == 0 ? 5 : 2;
@@ -105,7 +103,12 @@ main()
 	}
 	t_slam_tracker_config config{};
 	t_slam_fill_default_config(&config);
-	config.vit_system_library_path = library;
+	void *library = dlopen(config.vit_system_library_path, RTLD_LAZY | RTLD_LOCAL);
+	if (!library) {
+		puts("VIT backend unavailable for the recovery check");
+		return std::getenv("VIT_SYSTEM_LIBRARY_PATH") ? 1 : 77;
+	}
+	dlclose(library);
 	config.cam_count = cameras;
 	config.submit_from_start = true;
 	config.slam_calib = &calibration;
diff --git a/tests/tests_slam_restart.cpp b/tests/tests_slam_restart.cpp
index 7d2c8f4f9..b7ad1fe6d 100644
--- a/tests/tests_slam_restart.cpp
+++ b/tests/tests_slam_restart.cpp
@@ -11,16 +11,13 @@
 #include <initializer_list>
 #include <atomic>
 #include <thread>
+#include <dlfcn.h>
 #ifdef SLAM_TEST_HAVE_TBB
 #include <tbb/global_control.h>
 #endif
 int
 main()
 {
-	if (!std::getenv("VIT_SYSTEM_LIBRARY_PATH")) {
-		puts("Set VIT_SYSTEM_LIBRARY_PATH to run the backend lifecycle check");
-		return 77;
-	}
 	t_slam_calibration calibration{};
 	calibration.cam_count = 2;
 	// Use the default Basalt pipeline IMU rate for this lifecycle-only check.
@@ -48,7 +45,13 @@ main()
 	// Exercise the production default. The backend must advertise safe recreation.
 	t_slam_tracker_config config{};
 	t_slam_fill_default_config(&config);
-	config.vit_system_library_path = std::getenv("VIT_SYSTEM_LIBRARY_PATH");
+	// Resolve the installed backend exactly as the ordinary driver launch does.
+	void *library = dlopen(config.vit_system_library_path, RTLD_LAZY | RTLD_LOCAL);
+	if (!library) {
+		puts("VIT backend unavailable for the lifecycle check");
+		return std::getenv("VIT_SYSTEM_LIBRARY_PATH") ? 1 : 77;
+	}
+	dlclose(library);
 	config.cam_count = 2;
 	config.submit_from_start = true;
 	config.slam_calib = &calibration;