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#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) );
}
