void compute()

in evaluation/UAV-benchmark-MOTD_v1.0/utils/costBlockMex.cpp [84:140]

• 49 lines of code
• 18 McCabe index (conditional complexity)

void compute(double* tr1, double* tr2, const int* dim1, const int* dim2, double threshold, bool world, double& cost, double& fp, double& fn)
{
	int numPoints1 = dim1[0];
	int numPoints2 = dim2[0];
	int numCols1 = dim1[1];
	int numCols2 = dim2[1];
	int tr1start, tr1end, tr2start, tr2end;
	tr1start = tr1[index(1,1, numPoints1)];
	tr1end = tr1[index(numPoints1,1, numPoints1)];
	tr2start = tr2[index(1,1, numPoints2)];
	tr2end = tr2[index(numPoints2,1, numPoints2)];


	bool overlapTest = ((tr1start >= tr2start && tr1start <= tr2end) ||
		(tr1end >= tr2start && tr1end <= tr2end) ||
		(tr2start >= tr1start && tr2start <= tr1end) ||
		(tr2end >= tr1start && tr2end <= tr1end));
		
	if (!overlapTest)
	{
		fp = numPoints2;
		fn = numPoints1;
		cost = numPoints1 + numPoints2;
		return;
	}

	int* positionGT = new int[numPoints1];
	int* positionPred = new int[numPoints2];
	for (int i = 0; i < numPoints1; i++) positionGT[i] = -1;
	for (int i = 0; i < numPoints2; i++) positionPred[i] = -1;
	double* distanceGT = new double[numPoints1];
	double* distancePred = new double[numPoints2];
	double* frames1 = &tr1[index(1, 1, numPoints1)];
	double* frames2 = &tr2[index(1, 1, numPoints2)];
	
	correspondingFrames(frames1, numPoints1, frames2, numPoints2, positionGT);
	correspondingFrames(frames2, numPoints2, frames1, numPoints1, positionPred);
	computeDistances(tr1, tr2, numPoints1, numPoints2, positionGT, world, distanceGT);
	computeDistances(tr2, tr1, numPoints2, numPoints1, positionPred, world, distancePred);

	fp = 0; fn = 0;
	if (world) {
		for (int i = 0; i < numPoints1; i++) if (distanceGT[i] > threshold) fn++;
		for (int i = 0; i < numPoints2; i++) if (distancePred[i] > threshold) fp++;
	}
	else {
		for (int i = 0; i < numPoints1; i++) if (distanceGT[i] < threshold) fn++;
		for (int i = 0; i < numPoints2; i++) if (distancePred[i] < threshold) fp++;
	}
	cost = fp + fn;

	delete[] positionGT;
	delete[] positionPred;
	delete[] distanceGT;
	delete[] distancePred;

}