void displayCB()

in sensor_fusion_pkg/src/sensor_fusion_node.cpp [279:306]

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

        void displayCB(const sensor_msgs::msg::Image::SharedPtr msg) {
            try {
                std::bitset<8> sectorOverlayValues;
                auto displayMsg = sensor_msgs::msg::Image();
                {
                    std::lock_guard<std::mutex> guard(lidarMutex_);
                    size_t blockSize = overlayLidarData_.size()/sensorConfiguration_[LIDAR_OVERLAY_KEY][LIDAR_OVERLAY_CONFIG_LIDAR_OVERLAY_NUM_SECTORS_KEY];
                    if(blockSize == 8){
                        auto overlaySectorLidarData = binarySectorizeLidarData(overlayLidarData_,
                                                                               blockSize,
                                                                               sensorConfiguration_[LIDAR_OVERLAY_KEY][LIDAR_OVERLAY_CONFIG_MAX_LIDAR_DIST_KEY]);
                        for(size_t sector_idx = 0; sector_idx < overlaySectorLidarData.size(); sector_idx++){
                            sectorOverlayValues[sector_idx] = (int)overlaySectorLidarData[sector_idx];
                        }
                    }
                }
                cv::Mat resizedImg;
                cv::resize(cv_bridge::toCvCopy(msg, "bgr8")->image, resizedImg, cv::Size(imageWidth_, imageHeight_));
                cv::Mat overlayCVImage = lidarOverlayProcessingObj_.overlayLidarDataOnImage(resizedImg, sectorOverlayValues);
                if(enableOverlayPublish_) {
                    // Publish Lidar Overlay
                    overlayImagePub_->publish(*(cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", overlayCVImage).toImageMsg().get()));
                }
            }
            catch (const std::exception &ex) {
                RCLCPP_ERROR(this->get_logger(), "Display callback failed: %s", ex.what());
            }
        }