bool operator()

in visualization/FitAdam/include/pose_to_transforms.h [213:291]
67 lines of code
27 McCabe index (conditional complexity)

	bool operator()(const T* const pose,  // SMPLModel::NUM_JOINTS*3
		const T* const joints,  // (SMPLModel::NUM_JOINTS)*3
		T* transforms // (SMPLModel::NUM_JOINTS)*3*4
		) const
	{
		using namespace Eigen;
		Map< const Matrix<T, TotalModel::NUM_JOINTS, 3, RowMajor> > J(joints);
		Map< Matrix<T, 3 * TotalModel::NUM_JOINTS, 4, RowMajor> > outT(transforms);
		Map< Matrix<T, TotalModel::NUM_JOINTS, 3, RowMajor> > outJoint(transforms + 3 * TotalModel::NUM_JOINTS * 4);
		Matrix<T, Dynamic, 4, RowMajor> Ms(4 * TotalModel::NUM_JOINTS, 4);
		// Matrix<T, 3, 3, ColMajor> R; // Interface with ceres
		Matrix<T, 3, 3, RowMajor> R; // Interface with ceres

		ceres::AngleAxisToRotationMatrix(pose, R.data());
		Ms.setZero();
		Ms.block(0, 0, 3, 3) = R;
		Ms(0, 3) = J(0, 0);
		Ms(1, 3) = J(0, 1);
		Ms(2, 3) = J(0, 2);
		Ms(3, 3) = T(1.0);

		for (int idj = 1; idj < mod_.NUM_JOINTS; idj++)
		{
			int ipar = mod_.m_parent[idj];
			//std::cout << idj << " " << ipar << "\n\n";
			// ceres::AngleAxisToRotationMatrix(pose + idj * 3, R.data());

			T angles[3];
			angles[0] = pose[idj * 3];
			angles[1] = pose[idj * 3 + 1];
			angles[2] = pose[idj * 3 + 2];

			//Freezing joints here  //////////////////////////////////////////////////////
			if (idj == 10 || idj == 11)	//foot ends
			{
				//R.setIdentity();
				angles[0] = T(0.0);
				angles[1] = T(0.0);
				angles[2] = T(0.0);
			}
			if (euler_)
			{
				if (idj == 7 || idj == 8)	//foot ankle. Restrict side movement
				{
					angles[2] = T(0.0);
				}

				if (idj == 24 || idj == 27 || idj == 28 || idj == 31 || idj == 32 || idj == 35 || idj == 36 || idj == 39 || idj == 40)	//all hands
				{
					angles[0] = T(0.0);
					angles[1] = T(0.0);
				}

				if (idj == 44 || idj == 47 || idj == 48 || idj == 51 || idj == 52 || idj == 55 || idj == 56 || idj == 59 || idj == 60)	//all hands
				{
					angles[0] = T(0.0);
					angles[1] = T(0.0);
				}
				ceres::EulerAnglesToRotationMatrix(angles, 3, R.data());
			}
			else
			{
				ceres::AngleAxisToRotationMatrix(angles, R.data());
			}

			Ms.block(idj * 4, 0, 3, 3) = Ms.block(ipar * 4, 0, 3, 3)*R;
			Ms.block(idj * 4, 3, 3, 1) = Ms.block(ipar * 4, 3, 3, 1) +
										Ms.block(ipar * 4, 0, 3, 3)*(J.row(idj).transpose() - J.row(ipar).transpose());
			Ms(idj * 4 + 3, 3) = T(1.0);
		}
		for (int idj = 0; idj < mod_.NUM_JOINTS; idj++) {
			Ms.block(idj * 4, 3, 3, 1) -= Ms.block(idj * 4, 0, 3, 3)*J.row(idj).transpose();
		}
		for (int idj = 0; idj < mod_.NUM_JOINTS; idj++) {
			outT.block(idj * 3, 0, 3, 4) = Ms.block(idj * 4, 0, 3, 4);
			outJoint.row(idj) = (Ms.block(idj * 4, 0, 3, 3) * J.row(idj).transpose() + Ms.block(idj * 4, 3, 3, 1)).transpose();
		}
		return true;
	}