int main()

in source/render/GenerateKeypointProjections.cpp [39:106]
52 lines of code
8 McCabe index (conditional complexity)

int main(int argc, char* argv[]) {
  system_util::initDep(argc, argv, kUsageMessage);

  CHECK_NE(FLAGS_rig, "");
  CHECK_NE(FLAGS_output_dir, "");

  filesystem::create_directories(FLAGS_output_dir);

  // Load camera rig
  const Camera::Rig rig = Camera::loadRig(FLAGS_rig);
  const std::vector<cv::Mat_<cv::Vec4f>> images =
      image_util::loadImages<cv::Vec4f>(FLAGS_color, rig, FLAGS_frame, FLAGS_threads);

  const double height = rig[0].resolution.y();
  const double width = rig[0].resolution.x();

  for (int c0Idx = 0; c0Idx < int(rig.size()); ++c0Idx) {
    for (int c1Idx = c0Idx + 1; c1Idx < int(rig.size()); ++c1Idx) {
      cv::Mat_<cv::Vec4f> keypointProjection(height, width, cv::Scalar(0, 0, 0, 0));

      // Project a grid of points seen by the camera at c1Idx to the camera at c0Idx at different
      // depths
      for (double width_frac = 0; width_frac <= 1; width_frac += FLAGS_length_stride) {
        for (double height_frac = 0; height_frac <= 1; height_frac += FLAGS_height_stride) {
          const Camera::Vector2 c1Point(width * width_frac, height * height_frac);
          if (rig[c1Idx].isOutsideImageCircle(
                  Camera::Vector2(c1Point.x() + 0.5, c1Point.y() + 0.5))) {
            continue;
          }

          int depthSample = -1;
          double disparity = 0;
          cv::Rect2f box1(0, 0, 0, 0);

          // Unique color for this grid point (all depths will be the same color)
          const cv::Vec4f color = cv::Vec4f(height_frac, width_frac, (1 - height_frac), 1);
          while (calibration::getNextDepthSample(
              depthSample, disparity, box1, rig[c1Idx], c1Point, rig[c0Idx])) {
            const Camera::Vector3 cornerWorldProjection = rig[c1Idx].rig(c1Point, 1 / disparity);
            Camera::Vector2 projectedPoint;
            // Draw a circle centered at the reprojected point
            // Thickness of -1 indicates the circle is filled in
            if (rig[c0Idx].sees(cornerWorldProjection, projectedPoint)) {
              cv::rectangle(
                  keypointProjection,
                  cv::Point2d(
                      projectedPoint.x() - 0.5 - FLAGS_search_radius,
                      projectedPoint.y() - 0.5 - FLAGS_search_radius),
                  cv::Point2d(
                      projectedPoint.x() - 0.5 + FLAGS_search_radius,
                      projectedPoint.y() - 0.5 + FLAGS_search_radius),
                  color,
                  -1);
            }
          }
        }
      }

      cv::Mat_<cv::Vec4f> blend;
      cv::addWeighted(images[c0Idx], 1, keypointProjection, 0.6, 0, blend);
      const std::string fn =
          folly::sformat("{}/{}_{}.png", FLAGS_output_dir, rig[c0Idx].id, rig[c1Idx].id);
      cv_util::imwriteExceptionOnFail(fn, 255.0f * blend);
    }
  }

  return EXIT_SUCCESS;
}