def __record_images_from_s3()

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

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

    def __record_images_from_s3(self, manifest=None,  ros_topic=None, sensor=None, frame_id=None):

        s3_client = get_s3_client()

        req = Queue()
        resp = Queue()

        s3_reader = S3Reader(req, resp)
        s3_reader.start()

        image_request = self.request.get("image", "original")
        lens, dist_parms, intr_mat_dist, intr_mat_undist = self.__get_camera_info(sensor=sensor) if image_request == "undistorted" else (None, None, None, None)

        while True:
            files = None
            while not files and manifest.is_open():
                files = manifest.fetch()
            if not files:
                break

            for f in files:
                bucket = f[0]
                key = f[1]
                req.put(bucket+" "+key)

            self.__process_s3_image_files(ros_topic=ros_topic, files=files, resp=resp, frame_id=frame_id, 
                            s3_client=s3_client, image_request=image_request, 
                            lens=lens, dist_parms=dist_parms, intr_mat_dist=intr_mat_dist, intr_mat_undist=intr_mat_undist)

            if self.request['preview']:
                break

        req.put("__close__")
        s3_reader.join(timeout=2)
        if s3_reader.is_alive():
            s3_reader.terminate()
        
        self.topic_active[ros_topic] = False