def __record_images_from_fs()

in a2d2/src/rosbag_producer.py [0:0]

• 26 lines of code
• 9 McCabe index (conditional complexity)

    def __record_images_from_fs(self, manifest=None,  ros_topic=None, sensor=None, frame_id=None):

        image_reader = dict()
        image_data = dict() 
        image_ts = dict()

        image_request = self.request.get("image", "original")
        if image_request == "undistorted":
            lens, dist_parms, intr_mat_dist, intr_mat_undist = self.__get_camera_info(sensor=sensor)
        
        while True:
            files = None
            while not files and manifest.is_open():
                files = manifest.fetch()
            if not files:
                break

            count = read_images_from_fs(data_store=self.data_store, files=files, image_reader=image_reader, 
                image_data=image_data, image_ts=image_ts)
        
            for i in range(0, count):
                image_reader[i].join()
                if image_request == "undistorted":
                    image = RosUtil.undistort_image(image=image_data[i], lens=lens, dist_parms=dist_parms, 
                        intr_mat_dist=intr_mat_dist, intr_mat_undist=intr_mat_undist) 
                else:
                    image = image_data[i]
                self.__record_image_msg(ros_topic=ros_topic, image=image, image_ts=image_ts[i], frame_id=frame_id)

            if self.request['preview']:
                break

        self.topic_active[ros_topic] = False