def __record_pcl_from_fs()

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

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

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

        pcl_reader = dict() 
        pcl_ts = dict()
        npz = dict()
        
        lidar_view = self.request.get("lidar_view", "camera")
        vehicle_transform_matrix = self.__sensor_to_vehicle_matrix(sensor=sensor) if lidar_view == "vehicle" else None
        
        while True:
            files = None
            while not files and manifest.is_open():
                files = manifest.fetch()
            if not files:
                break

            count = read_pcl_from_fs(data_store=self.data_store, files=files, 
                pcl_reader=pcl_reader, pcl_ts=pcl_ts, npz=npz)
            for i in range(0, count):
                pcl_reader[i].join()
                points, reflectance = RosUtil.parse_pcl_npz(npz=npz[i], lidar_view=lidar_view, 
                    vehicle_transform_matrix=vehicle_transform_matrix)
                if not np.isnan(points).any():
                    self.__record_pcl_msg(ros_topic=ros_topic, points=points, reflectance=reflectance, 
                        pcl_ts=pcl_ts[i], frame_id=frame_id)

            if self.request['preview']:
                break

        self.topic_active[ros_topic] = False