vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
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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"
+
+namespace opencv_test { namespace {
+
+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) );
+}
+
+
+}} // namespace