k4a_result_t K4AROSDevice::getRbgFrame()

in src/k4a_ros_device.cpp [538:569]

• 25 lines of code
• 4 McCabe index (conditional complexity)

k4a_result_t K4AROSDevice::getRbgFrame(const k4a::capture& capture, sensor_msgs::ImagePtr& rgb_image,
                                       bool rectified = false)
{
  k4a::image k4a_bgra_frame = capture.get_color_image();

  if (!k4a_bgra_frame)
  {
    ROS_ERROR("Cannot render BGRA frame: no frame");
    return K4A_RESULT_FAILED;
  }

  size_t color_image_size =
      static_cast<size_t>(k4a_bgra_frame.get_width_pixels() * k4a_bgra_frame.get_height_pixels()) * sizeof(BgraPixel);

  if (k4a_bgra_frame.get_size() != color_image_size)
  {
    ROS_WARN("Invalid k4a_bgra_frame returned from K4A");
    return K4A_RESULT_FAILED;
  }

  if (rectified)
  {
    k4a::image k4a_depth_frame = capture.get_depth_image();

    calibration_data_.k4a_transformation_.color_image_to_depth_camera(k4a_depth_frame, k4a_bgra_frame,
                                                                      &calibration_data_.transformed_rgb_image_);

    return renderBGRA32ToROS(rgb_image, calibration_data_.transformed_rgb_image_);
  }

  return renderBGRA32ToROS(rgb_image, k4a_bgra_frame);
}