void cameraCB()

in sensor_fusion_pkg/src/sensor_fusion_node.cpp [253:275]

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

        void cameraCB(const deepracer_interfaces_pkg::msg::CameraMsg::SharedPtr msg) {
            try {
                lastCameraMsgRecievedTime = std::chrono::steady_clock::now();
                cameraImageCount_ = msg->images.size();
                auto sensorMsg = deepracer_interfaces_pkg::msg::EvoSensorMsg();
                sensorMsg.images = msg->images;
                // Update the LiDAR data with sector LiDAR data based on preprocessing configuration
                if(sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_PREPROCESS_TYPE_KEY] == sector){
                    std::lock_guard<std::mutex> guard(lidarMutex_);
                    size_t blockSize = lidarData_.size()/sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_NUM_LIDAR_SECTORS_KEY];
                    auto sectorLidarData = binarySectorizeLidarData(lidarData_, blockSize, maxLiDARDist_);
                    sensorMsg.lidar_data = sectorLidarData;
                } else {
                    std::lock_guard<std::mutex> guard(lidarMutex_);
                    // Set LiDAR data by default
                    sensorMsg.lidar_data = lidarData_; 
                }
                this->sensorMsgPub_->publish(sensorMsg);  // Publish it along.
            }
            catch (const std::exception &ex) {
                RCLCPP_ERROR(this->get_logger(), "Camera callback failed: %s", ex.what());
            }
        }