void GreyDiff::processImage()

in inference_pkg/src/image_process.cpp [191:210]

• 19 lines of code
• 4 McCabe index (conditional complexity)

    void GreyDiff::processImage(const sensor_msgs::msg::Image &frameData, cv::Mat &retImg,
                            const std::unordered_map<std::string, int> &params) {
        (void)retImg;                    
        cv::Mat currImg;
        if (cvtToCVObjResize(frameData, currImg, params)) {
            try {
                // Convert to greyscale
                cv::cvtColor(currImg, currImg, cv::COLOR_BGR2GRAY);
                bool isFirstImg = prevImage_.empty();
                prevImage_.copyTo(currImg);
                if (!isFirstImg) {
                    currImg = currImg - prevImage_;
                }
            }
            catch (...) {
                RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Conversion to Grey Scale and vector stacking failed");
                return;
            }
        }
    }