static void compute_xy_range()

in opencv-kinfu-samples/main.cpp [89:167]

• 65 lines of code
• 9 McCabe index (conditional complexity)

static void compute_xy_range(const k4a_calibration_t* calibration,
    const k4a_calibration_type_t camera,
    const int width,
    const int height,
    float& x_min,
    float& x_max,
    float& y_min,
    float& y_max)
{
    // Step outward from the centre point until we find the bounds of valid projection
    const float step_u = 0.25f;
    const float step_v = 0.25f;
    const float min_u = 0;
    const float min_v = 0;
    const float max_u = (float)width - 1;
    const float max_v = (float)height - 1;
    const float center_u = 0.5f * width;
    const float center_v = 0.5f * height;

    int valid;
    k4a_float2_t p;
    k4a_float3_t ray;

    // search x_min
    for (float uv[2] = { center_u, center_v }; uv[0] >= min_u; uv[0] -= step_u)
    {
        p.xy.x = uv[0];
        p.xy.y = uv[1];
        k4a_calibration_2d_to_3d(calibration, &p, 1.f, camera, camera, &ray, &valid);

        if (!valid)
        {
            break;
        }
        x_min = ray.xyz.x;
    }

    // search x_max
    for (float uv[2] = { center_u, center_v }; uv[0] <= max_u; uv[0] += step_u)
    {
        p.xy.x = uv[0];
        p.xy.y = uv[1];
        k4a_calibration_2d_to_3d(calibration, &p, 1.f, camera, camera, &ray, &valid);

        if (!valid)
        {
            break;
        }
        x_max = ray.xyz.x;
    }

    // search y_min
    for (float uv[2] = { center_u, center_v }; uv[1] >= min_v; uv[1] -= step_v)
    {
        p.xy.x = uv[0];
        p.xy.y = uv[1];
        k4a_calibration_2d_to_3d(calibration, &p, 1.f, camera, camera, &ray, &valid);

        if (!valid)
        {
            break;
        }
        y_min = ray.xyz.y;
    }

    // search y_max
    for (float uv[2] = { center_u, center_v }; uv[1] <= max_v; uv[1] += step_v)
    {
        p.xy.x = uv[0];
        p.xy.y = uv[1];
        k4a_calibration_2d_to_3d(calibration, &p, 1.f, camera, camera, &ray, &valid);

        if (!valid)
        {
            break;
        }
        y_max = ray.xyz.y;
    }
}