id: 1
unit: void LidarOverlay::createFillCoordinates()
file: sensor_fusion_pkg/src/lidar_overlay.cpp
start line: 86
end line: 175
size: 61 LOC
McCabe index: 1
number of parameters: 0

id: 2
unit: void lidarCB()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 310
end line: 358
size: 45 LOC
McCabe index: 7
number of parameters: 1

id: 3
unit: void setSensorConfigurationFromFile()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 483
end line: 531
size: 44 LOC
McCabe index: 11
number of parameters: 2

id: 4
unit: void setLidarConfigCallback()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 409
end line: 448
size: 36 LOC
McCabe index: 7
number of parameters: 3

id: 5
unit: void statusCheckCallback()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 375
end line: 404
size: 28 LOC
McCabe index: 6
number of parameters: 3

id: 6
unit: void displayCB()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 279
end line: 306
size: 27 LOC
McCabe index: 5
number of parameters: 1

id: 7
unit: void writeSensorConfigJSON()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 453
end line: 478
size: 24 LOC
McCabe index: 6
number of parameters: 2

id: 8
unit: void createDefaultSensorConfiguration()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 228
end line: 249
size: 22 LOC
McCabe index: 1
number of parameters: 0

id: 9
unit: void cameraCB()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 253
end line: 275
size: 21 LOC
McCabe index: 3
number of parameters: 1

id: 10
unit: std::vector interp()
file: sensor_fusion_pkg/src/utility.cpp
start line: 69
end line: 88
size: 20 LOC
McCabe index: 4
number of parameters: 3

id: 11
unit: void LidarOverlay::loadLidarOverlayCache()
file: sensor_fusion_pkg/src/lidar_overlay.cpp
start line: 65
end line: 83
size: 18 LOC
McCabe index: 5
number of parameters: 1

id: 12
unit: std::vector linspace()
file: sensor_fusion_pkg/src/utility.cpp
start line: 47
end line: 63
size: 17 LOC
McCabe index: 4
number of parameters: 3

id: 13
unit: cv::Mat LidarOverlay::overlayLidarDataOnImage()
file: sensor_fusion_pkg/src/lidar_overlay.cpp
start line: 48
end line: 61
size: 14 LOC
McCabe index: 2
number of parameters: 2

id: 14
unit: std::vector binarySectorizeLidarData()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 361
end line: 371
size: 11 LOC
McCabe index: 5
number of parameters: 3

id: 15
unit: int main()
file: sensor_fusion_pkg/src/sensor_fusion_node.cpp
start line: 565
end line: 574
size: 10 LOC
McCabe index: 1
number of parameters: 2

id: 16
unit: def generate_launch_description()
file: sensor_fusion_pkg/launch/sensor_fusion_launch.py
start line: 0
end line: 0
size: 9 LOC
McCabe index: 1
number of parameters: 0

id: 17
unit: void LidarOverlay::init()
file: sensor_fusion_pkg/src/lidar_overlay.cpp
start line: 35
end line: 43
size: 9 LOC
McCabe index: 1
number of parameters: 3

id: 18
unit: void LidarOverlay::drawSectorSeparatorLinesOnImage()
file: sensor_fusion_pkg/src/lidar_overlay.cpp
start line: 178
end line: 186
size: 9 LOC
McCabe index: 2
number of parameters: 1

id: 19
unit: void writeJSONToFile()
file: sensor_fusion_pkg/src/utility.cpp
start line: 32
end line: 41
size: 8 LOC
McCabe index: 1
number of parameters: 2

id: 20
unit: bool checkFile()
file: sensor_fusion_pkg/src/utility.cpp
start line: 23
end line: 27
size: 5 LOC
McCabe index: 1
number of parameters: 1