void stack()

in inference_pkg/src/image_process.cpp [71:93]

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

    void stack(cv::Mat &currImg, cv::Mat &retImg, 
               std::vector<cv::Mat> &imageStack, const std::unordered_map<std::string, int> &params) {
        auto itChannels = params.find("channels");
        if (itChannels == params.end()) {
            RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Image processing params has no channel entry");
            return;
        }
        // Add image to the stack.
        if (imageStack.empty()) {
            for (int i = 0; i < itChannels->second; ++i) {
                imageStack.push_back(currImg);
            }
        }
        else {
        // Remove the oldest image which should be in the back
            imageStack.pop_back();
            // Add the current image to the front of the vector, this will be of order
            // N, if OpenCV refactors cv::merge to used std::deque refactor immediately.
            imageStack.insert(imageStack.begin(), currImg);
        }
        // Populate the return image with the image stack
        cv::merge(imageStack, retImg);
    }