int HexGridFitting::determineRotation()

in IsometricPatternMatcher/HexGridFitting.cpp [554:583]

• 28 lines of code
• 8 McCabe index (conditional complexity)

int HexGridFitting::determineRotation(const Eigen::Matrix3Xi& cubeCoor1,
                                      const Eigen::Matrix3Xi& cubeCoor2,
                                      const Eigen::Matrix3Xi& cubeCoorDiff) {
  CHECK(cubeCoor1.cols() == cubeCoor2.cols())
      << "cubeCoor should have same size";
  size_t rotIdx = 0;  // number of left 60 degree
  Eigen::VectorXi inlierNumber(6);
  inlierNumber.fill(0);
  for (int i = 0; i < cubeCoor1.cols(); i++) {
    if ((cubeCoor1(0, i) != std::numeric_limits<int>::max()) &&
        (cubeCoor2(0, i) != std::numeric_limits<int>::max())) {
      // we only use shared dot to determine the rotation
      for (rotIdx = 0; rotIdx < 6; ++rotIdx) {
        if (cubeCoor1.col(i) ==
            doLeftRotate(cubeCoor2.col(i), rotIdx) + cubeCoorDiff) {
          inlierNumber(rotIdx) += 1;
        }
      }
    }
  }
  // determine best rotation index
  int bestNumber = 0;
  for (int i = 0; i < 6; ++i) {
    if (bestNumber < inlierNumber(i)) {
      bestNumber = inlierNumber(i);
      rotIdx = i;
    }
  }
  return rotIdx;
}