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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include "test_precomp.hpp"
using namespace cv;
using namespace cv::sfm;
using namespace std;
template<typename T>
static void
test_meanAndVarianceAlongRows( void )
{
int n = 4;
Mat_<T> points(2,n);
points << 0, 0, 1, 1,
0, 2, 1, 3;
Mat_<T> mean, variance;
meanAndVarianceAlongRows(points, mean, variance);
EXPECT_NEAR(0.5, mean(0), 1e-8);
EXPECT_NEAR(1.5, mean(1), 1e-8);
EXPECT_NEAR(0.25, variance(0), 1e-8);
EXPECT_NEAR(1.25, variance(1), 1e-8);
}
TEST(Sfm_numeric, meanAndVarianceAlongRows)
{
test_meanAndVarianceAlongRows<float>();
test_meanAndVarianceAlongRows<double>();
}
TEST(Sfm_numeric, skewMat)
{
// Testing with floats
Vec3f a;
a << 1,2,3;
Matx33f ax = skew(a);
EXPECT_FLOAT_EQ( 0, trace(ax) );
EXPECT_FLOAT_EQ( ax(0,1), -ax(1,0) );
EXPECT_FLOAT_EQ( ax(0,2), -ax(2,0) );
EXPECT_FLOAT_EQ( ax(1,2), -ax(2,1) );
// Testing with doubles
Vec3d b;
b << 1,2,3;
Matx33d bx = skew(b);
EXPECT_DOUBLE_EQ( 0, trace(bx) );
EXPECT_DOUBLE_EQ( bx(0,1), -bx(1,0) );
EXPECT_DOUBLE_EQ( bx(0,2), -bx(2,0) );
EXPECT_DOUBLE_EQ( bx(1,2), -bx(2,1) );
}
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