void scanCameraIndex()

in camera_pkg/src/camera_node.cpp [79:109]

• 29 lines of code
• 7 McCabe index (conditional complexity)

        void scanCameraIndex(const std::vector<int> cameraIdxList) {
            for (auto idx : cameraIdxList){
                RCLCPP_INFO(this->get_logger(), "Scanning Camera Index %d ", idx);
                auto cap = cv::VideoCapture(idx, cv::CAP_V4L);
                cv::Mat test_frame;
                cap >> test_frame;
                if(test_frame.empty() || !cap.isOpened()){
                    RCLCPP_ERROR(this->get_logger(), "Unable to create video capture stream on index: %d", idx);
                    continue;
                }
                // Add to valid video capture list
                videoCaptureList_.push_back(cap);
                videoCaptureList_.back().set(cv::CAP_PROP_FOURCC,
                                            cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
                // Add to valid video index list
                videoIndexList_.push_back(idx);
            }
            switch(videoIndexList_.size()) {
                case 0 :
                    RCLCPP_ERROR(this->get_logger(), "[Camera Package] No cameras detected.");
                    break;
                case 1 :
                    RCLCPP_INFO(this->get_logger(), "[Camera Package] Single Camera Detected at index:  %d", videoIndexList_[0]);
                    break;
                case 2 :
                    RCLCPP_INFO(this->get_logger(), "[Camera Package] Stereo Cameras Detected at indexes:  %d, %d", videoIndexList_[0], videoIndexList_[1]);
                    break;
                default :
                    RCLCPP_ERROR(this->get_logger(), "[Camera Package] Error while detecting cameras.");
            }
        }