bool InView()

in ReplicaSDK/include/MirrorRenderer.h [184:198]

• 11 lines of code
• 6 McCabe index (conditional complexity)

  bool InView(const MirrorSurface& surface, const pangolin::OpenGlRenderState& cam) {
    const Eigen::Matrix4f mvp = ((Eigen::Matrix4d)cam.GetProjectionModelViewMatrix()).cast<float>();

    for (size_t i = 0; i < surface.Boundary_w().size(); i++) {
      Eigen::Vector4f p = mvp * Unproject(surface.Boundary_w()[i]);

      p = p / p(3);

      if (p(0) > -1 && p(0) < 1 && p(1) > -1 && p(1) < 1 && p(2) > -1 && p(2) < 1) {
        return true;
      }
    }

    return false;
  }