Tweaked the reproj error to be in terms of average error per sample
@@ -677,7 +677,13 @@ static void handle_calibration( struct SurviveCalData *cd )
reproj_err += sqrt(err);
}
- reproj_err = reproj_err / cnt;
+ // This represents the average distance we were off in our
+ // reprojection.
+ // Different libraries have slightly different variations on
+ // this theme,
+ // but this one has an intuitive meaning
+ reproj_err = (reproj_err / cnt);
+
SV_INFO("Reproject error was %.13g for lighthouse %d",
reproj_err, lh);
}
