void ImageCallback()

in h264_video_encoder/src/h264_video_encoder.cpp [74:109]

• 31 lines of code
• 6 McCabe index (conditional complexity)

void ImageCallback(sensor_msgs::msg::Image::ConstSharedPtr msg, const H264Encoder * encoder,
                   uint64_t & frame_num, kinesis_video_msgs::msg::KinesisImageMetadata & metadata,
                   std::shared_ptr<rclcpp::Publisher<kinesis_video_msgs::msg::KinesisVideoFrame>> pub)
{
  thread_local H264EncoderResult encoder_output;

  AwsError retcode = encoder->Encode(msg->data.data(), encoder_output);
  if (retcode != AWS_ERR_OK) {
    if (retcode == AWS_ERR_NULL_PARAM) {
      AWS_LOG_ERROR(__func__, "Encoder received empty data!");
    } else if (retcode == AWS_ERR_FAILURE) {
      AWS_LOG_ERROR(__func__, "Unknown encoding error occurred");
    } else if (retcode == AWS_ERR_EMPTY) {
      AWS_LOG_WARN(__func__, "Encoder returned empty frame");
    }
    return;
  }

  kinesis_video_msgs::msg::KinesisVideoFrame frame;
  frame.index = frame_num;
  frame.flags = (encoder_output.key_frame) ? kKeyFrameFlag : kBPFrameFlag;
  frame.decoding_ts = encoder_output.frame_dts;
  frame.presentation_ts = encoder_output.frame_pts;
  frame.duration = encoder_output.frame_duration / 2;  // duration recommended to be set shorter
  frame.codec_private_data = encoder->GetExtraData();
  frame.frame_data = encoder_output.frame_data;
  frame.metadata.swap(metadata.metadata);

  pub->publish(frame);

  constexpr int kDbgMsgThrottlePeriod = 10;  // 10 seconds throttling period
  RCUTILS_LOG_DEBUG_THROTTLE("", kDbgMsgThrottlePeriod, "Published Frame #%lu (timestamp: %lu)\n", frame_num,
                     encoder_output.frame_pts);

  ++frame_num;
}