std::string getCameraRmseReport()

in source/calibration/GeometricCalibration.cpp [708:780]

• 66 lines of code
• 7 McCabe index (conditional complexity)

std::string getCameraRmseReport(
    const std::vector<Camera>& cameras,
    const std::vector<Camera>& groundTruth) {
  Camera::Real position = 0;
  Camera::Real rotation = 0;
  Camera::Real principal = 0;
  Camera::Real distortion = 0;
  Camera::Real focal = 0;

  for (int i = 0; i < int(cameras.size()); ++i) {
    {
      auto before = groundTruth[i].position;
      auto after = cameras[i].position;
      position += (after - before).squaredNorm();
    }
    for (int v = 0; v < 3; ++v) {
      auto before = groundTruth[i].rotation.row(v);
      auto after = cameras[i].rotation.row(v);
      rotation += (after - before).squaredNorm();
    }
    {
      auto before = groundTruth[i].principal;
      auto after = cameras[i].principal;
      principal += (after - before).squaredNorm();
    }
    {
      auto before = groundTruth[i].getDistortion();
      auto after = cameras[i].getDistortion();
      distortion += (after - before).squaredNorm();
    }
    {
      auto before = groundTruth[i].focal;
      auto after = cameras[i].focal;
      focal += (after - before).squaredNorm();
    }
  }

  Camera::Real angle = 0;
  int angleCount = 0;
  for (int i = 0; i < int(cameras.size()); ++i) {
    for (int j = 0; j < i; ++j) {
      for (int v = 2; v < 3; ++v) {
        // angle between camera i and j
        auto before = acosClamp(groundTruth[i].rotation.row(v).dot(groundTruth[j].rotation.row(v)));
        if (before > 1) {
          continue; // only count angles less than a radian
        }
        auto after = acosClamp(cameras[i].rotation.row(v).dot(cameras[j].rotation.row(v)));
        angle += (after - before) * (after - before);
        ++angleCount;
      }
    }
  }

  // average
  position /= cameras.size();
  rotation /= 3 * cameras.size();
  principal /= cameras.size();
  distortion /= cameras.size();
  focal /= cameras.size();
  angle /= angleCount;

  std::ostringstream result;
  result << "RMSEs: "
         << "Pos " << sqrt(position) << " "
         << "Rot " << sqrt(rotation) << " "
         << "Principal " << sqrt(principal) << " "
         << "Distortion " << sqrt(distortion) << " "
         << "Focal " << sqrt(focal) << " "
         << "Angle " << sqrt(angle) << " ";

  return result.str();
}