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91 lines
2.7 KiB
91 lines
2.7 KiB
/* |
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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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using namespace cv; |
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using namespace cv::sfm; |
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using namespace std; |
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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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