int main()

in camera_pkg/src/camera_node.cpp [197:212]

• 8 lines of code
• 1 McCabe index (conditional complexity)

int main(int argc, char * argv[])
{
    rclcpp::init(argc, argv);
    //! TODO Remove hardcode after testing.
    // TODO Update not to log uvcvideo: Buffer is NULL in /var/log/syslog

    // Earlier logic of having Left/Center/Right map to index 4/1/0 doesn't work in Ubuntu 20.04
    // The camera indexes keep changing intermittently in Ubuntu 20.04.
    // Hence modifying the logic to scan for indexes in descending order and add to the Video Capture list of the valid capture elements.
    // In case of Stereo Cameras: The index with greater number represents Left Camera.
    std::vector<int> cameraIndex {4, 3, 2, 1, 0};
    // Create the camera_node.
    rclcpp::spin(std::make_shared<MediaEng::CameraNode>("camera_node", cameraIndex));
    rclcpp::shutdown();
    return 0;
}