void run()

in robots/LoCoBot/locobot_navigation/orb_slam2_ros/src/gen_cfg_file.cc [39:100]
62 lines of code
4 McCabe index (conditional complexity)

  void run() {
    ros::Rate r(10);
    auto start = std::chrono::system_clock::now();
    while (1) {
      ros::spinOnce();
      if (mbGotCamInfo) {
        cv::FileStorage fs(msFilename, cv::FileStorage::WRITE);
        fs << "Camera_fx" << maK[0];
        fs << "Camera_fy" << maK[4];
        fs << "Camera_cx" << maK[2];
        fs << "Camera_cy" << maK[5];
        fs << "Camera_k1" << mvD[0];
        fs << "Camera_k2" << mvD[1];
        fs << "Camera_p1" << mvD[2];
        fs << "Camera_p2" << mvD[3];
        fs << "Camera_k3" << mvD[4];
        fs << "Camera_width" << mnCamWidth;
        fs << "Camera_height" << mnCamHeight;
        fs << "Camera_fps" << 30.0;
        float bf = mfCamBaseline / 1000.0 * maK[0];
        fs << "Camera_bf" << bf;
        fs << "Camera_RGB" << mnRGB;
        fs << "ThDepth" << 40.0;
        fs << "DepthMapFactor" << 1000.0;
        fs << "ORBextractor_nFeatures" << 1000;
        fs << "ORBextractor_scaleFactor" << 1.2;
        fs << "ORBextractor_nLevels" << 8;
        fs << "ORBextractor_iniThFAST" << 20;
        fs << "ORBextractor_minThFAST" << 7;
        fs << "Viewer_KeyFrameSize" << 0.05;
        fs << "Viewer_KeyFrameLineWidth" << 1;
        fs << "Viewer_GraphLineWidth" << 0.9;
        fs << "Viewer_PointSize" << 2;
        fs << "Viewer_CameraSize" << 0.08;
        fs << "Viewer_CameraLineWidth" << 3;
        fs << "Viewer_ViewpointX" << 0;
        fs << "Viewer_ViewpointY" << -0.7;
        fs << "Viewer_ViewpointZ" << -1.8;
        fs << "Viewer_ViewpointF" << 500;
        fs << "DepthImgSavePath" << "./Imgs/DepthImgs";
        fs << "RGBImgSavePath" << "./Imgs/RGBImgs";
        fs.release();
        std::cout << "Camera configuration file generated." << std::endl;
        boost::filesystem::path pDir(msFilename);
        boost::filesystem::path script("bash_scripts/replace_underscore.sh");
        boost::filesystem::path scriptPath = pDir.parent_path().parent_path() / script;
        std::cout << "Running script:" << scriptPath.string() << std::endl;
        system(scriptPath.string().c_str());
        break;
      }
      r.sleep();
      auto end = std::chrono::system_clock::now();
      std::chrono::duration<double> diff = end - start;
      if (diff.count() > 10) {
        std::cout << "******************************************" << std::endl;
        std::cout << "Camera configuration file not generated!!!" << std::endl;
        std::cout << "Please manually generate it" << std::endl;
        std::cout << "******************************************" << std::endl;
        break;
      }
    }
  }