void Grey::processImageVec()

in inference_pkg/src/image_process.cpp [163:181]

• 17 lines of code
• 3 McCabe index (conditional complexity)

    void Grey::processImageVec(const std::vector<sensor_msgs::msg::Image> &frameDataArr, cv::Mat &retImg,
                            const std::unordered_map<std::string, int> &params) {
        // Left camera image is sent as the top image and the right camera image is sent as second in the vector.
        // Stack operation replaces the beginning values as we loop through and hence we loop in decreasing order
        try {
              std::vector<cv::Mat> channels;
              for (const auto& image_msg : frameDataArr) {
                cv::Mat img;
                cvtToCVObjResize(image_msg, img, params);
                cv::cvtColor(img, img, cv::COLOR_BGR2GRAY);
                channels.push_back(img);
              }
              cv::merge(channels, retImg);
        }
        catch (...) {
            RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Conversion to Grey Scale and vector stacking failed");
            return;
        }
    }