void VisualizeResult()

in body-tracking-samples/simple_3d_viewer/main.cpp [129:206]
58 lines of code
12 McCabe index (conditional complexity)

void VisualizeResult(k4abt_frame_t bodyFrame, Window3dWrapper& window3d, int depthWidth, int depthHeight) {

    // Obtain original capture that generates the body tracking result
    k4a_capture_t originalCapture = k4abt_frame_get_capture(bodyFrame);
    k4a_image_t depthImage = k4a_capture_get_depth_image(originalCapture);

    std::vector<Color> pointCloudColors(depthWidth * depthHeight, { 1.f, 1.f, 1.f, 1.f });

    // Read body index map and assign colors
    k4a_image_t bodyIndexMap = k4abt_frame_get_body_index_map(bodyFrame);
    const uint8_t* bodyIndexMapBuffer = k4a_image_get_buffer(bodyIndexMap);
    for (int i = 0; i < depthWidth * depthHeight; i++)
    {
        uint8_t bodyIndex = bodyIndexMapBuffer[i];
        if (bodyIndex != K4ABT_BODY_INDEX_MAP_BACKGROUND)
        {
            uint32_t bodyId = k4abt_frame_get_body_id(bodyFrame, bodyIndex);
            pointCloudColors[i] = g_bodyColors[bodyId % g_bodyColors.size()];
        }
    }
    k4a_image_release(bodyIndexMap);

    // Visualize point cloud
    window3d.UpdatePointClouds(depthImage, pointCloudColors);

    // Visualize the skeleton data
    window3d.CleanJointsAndBones();
    uint32_t numBodies = k4abt_frame_get_num_bodies(bodyFrame);
    for (uint32_t i = 0; i < numBodies; i++)
    {
        k4abt_body_t body;
        VERIFY(k4abt_frame_get_body_skeleton(bodyFrame, i, &body.skeleton), "Get skeleton from body frame failed!");
        body.id = k4abt_frame_get_body_id(bodyFrame, i);

        // Assign the correct color based on the body id
        Color color = g_bodyColors[body.id % g_bodyColors.size()];
        color.a = 0.4f;
        Color lowConfidenceColor = color;
        lowConfidenceColor.a = 0.1f;

        // Visualize joints
        for (int joint = 0; joint < static_cast<int>(K4ABT_JOINT_COUNT); joint++)
        {
            if (body.skeleton.joints[joint].confidence_level >= K4ABT_JOINT_CONFIDENCE_LOW)
            {
                const k4a_float3_t& jointPosition = body.skeleton.joints[joint].position;
                const k4a_quaternion_t& jointOrientation = body.skeleton.joints[joint].orientation;

                window3d.AddJoint(
                    jointPosition,
                    jointOrientation,
                    body.skeleton.joints[joint].confidence_level >= K4ABT_JOINT_CONFIDENCE_MEDIUM ? color : lowConfidenceColor);
            }
        }

        // Visualize bones
        for (size_t boneIdx = 0; boneIdx < g_boneList.size(); boneIdx++)
        {
            k4abt_joint_id_t joint1 = g_boneList[boneIdx].first;
            k4abt_joint_id_t joint2 = g_boneList[boneIdx].second;

            if (body.skeleton.joints[joint1].confidence_level >= K4ABT_JOINT_CONFIDENCE_LOW &&
                body.skeleton.joints[joint2].confidence_level >= K4ABT_JOINT_CONFIDENCE_LOW)
            {
                bool confidentBone = body.skeleton.joints[joint1].confidence_level >= K4ABT_JOINT_CONFIDENCE_MEDIUM &&
                    body.skeleton.joints[joint2].confidence_level >= K4ABT_JOINT_CONFIDENCE_MEDIUM;
                const k4a_float3_t& joint1Position = body.skeleton.joints[joint1].position;
                const k4a_float3_t& joint2Position = body.skeleton.joints[joint2].position;

                window3d.AddBone(joint1Position, joint2Position, confidentBone ? color : lowConfidenceColor);
            }
        }
    }

    k4a_capture_release(originalCapture);
    k4a_image_release(depthImage);

}