void Grey::processImage()

in inference_pkg/src/image_process.cpp [140:161]

• 20 lines of code
• 5 McCabe index (conditional complexity)

    void Grey::processImage(const sensor_msgs::msg::Image &frameData, cv::Mat &retImg,
                            const std::unordered_map<std::string, int> &params) {
        cv::Mat currImg;
        if (cvtToCVObjResize(frameData, currImg, params)) {
            try {
                // Convert to greyscale
                cv::cvtColor(currImg, currImg, cv::COLOR_BGR2GRAY);
                // Perform desired pre processing
                if (isThreshold_) {
                    threshold(currImg, THRESHOLD, PXL_MAX_VALUE);
                }
                if (isMask_) {
                    masking(currImg, ROW_IDX, MASK_VALUE);
                }
                stack(currImg, retImg, imageStack_, params);
            }
            catch (...) {
                RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Conversion to Grey Scale and vector stacking failed");
                return;
            }
        }
    }