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