cv::Mat LidarOverlay::overlayLidarDataOnImage()

in sensor_fusion_pkg/src/lidar_overlay.cpp [48:61]

• 14 lines of code
• 2 McCabe index (conditional complexity)

    cv::Mat LidarOverlay::overlayLidarDataOnImage(const cv::Mat& image, const std::bitset<8>& sectorLidarData){
        int cacheKey = (int)(sectorLidarData.to_ulong());
        if(lidarOverlayCache_.find(cacheKey) == lidarOverlayCache_.end()){
            loadLidarOverlayCache(sectorLidarData);
        }
        cv::Mat finalImage;
        cv::addWeighted(image,
                        lidarOverlayConfiguration_[LIDAR_OVERLAY_CONFIG_LIDAR_OVERLAY_ALPHA_KEY],
                        lidarOverlayCache_[cacheKey],
                        1.0 - lidarOverlayConfiguration_[LIDAR_OVERLAY_CONFIG_LIDAR_OVERLAY_ALPHA_KEY],
                        0.0,
                        finalImage);
        return finalImage;
    }