void PatternMatcherIsometric::generateResult()

in IsometricPatternMatcher/PatternMatcherIsometric.cpp [94:136]
43 lines of code
13 McCabe index (conditional complexity)

void PatternMatcherIsometric::generateResult(
    const HexGridFitting& grid, const Eigen::Matrix2Xd& detectedDots,
    int rotationIndx, const Eigen::Vector2i& offset,
    PatternMatcherIsometric::Result& res) const {
  Eigen::MatrixXi referenceIndxMap;
  size_t storageMapRows = isometricGrids_[0]->storageMapRows();
  referenceIndxMap.resize(storageMapRows, storageMapRows);
  for (int r = 0; r < storageMapRows; ++r) {
    for (int c = 0; c < storageMapRows; ++c)
      referenceIndxMap(r, c) = r * storageMapRows + c;
  }
  fmt::print("rotationIndx: {}, offset: ({}, {}).\n", rotationIndx, offset.x(),
             offset.y());
  for (int i = 0; i < rotationIndx; ++i) {
    referenceIndxMap = isometricGrids_[0]->Rotate60Right(referenceIndxMap);
  }
  Eigen::Matrix<double, 2, Eigen::Dynamic> correspondences;
  correspondences.resize(2, isometricGrids_[0]->GetPattern().cols());
  correspondences.setConstant(std::numeric_limits<double>::quiet_NaN());
  Eigen::MatrixXi detectedIndxMap = grid.indexMap();
  int numVisualizedDot = 0;
  for (int r = 0; r < detectedIndxMap.rows(); ++r) {
    for (int c = 0; c < detectedIndxMap.cols(); ++c) {
      if (r + offset.x() >= 0 && r + offset.x() < storageMapRows &&
          c + offset.y() >= 0 && c + offset.y() < storageMapRows) {
        const int id = referenceIndxMap(r + offset.x(), c + offset.y());
        if (detectedIndxMap(r, c) >= 0) {
          CHECK(id < correspondences.cols());
          if (isometricGrids_[0]->GetBinaryPatternGroup()[rotationIndx](
                  r + offset.x(), c + offset.y()) ==
                  grid.detectPattern()(r, c) &&
              grid.detectPattern()(r, c) != 2) {
            correspondences.col(id) = detectedDots.col(detectedIndxMap(r, c));
            numVisualizedDot += 1;
          }
        }
      }  // end if
    }    // end c
  }      // end r
  res.detections.emplace_back(0, correspondences);
  std::cout << "Visualize matched point number is: " << numVisualizedDot
            << std::endl;
}