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perf(occupancy_grid_map_outlier_filter): improve performance #5980

Merged
merged 10 commits into from
Mar 14, 2024

Merge branch 'main' into perf_occupancy

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Merged

perf(occupancy_grid_map_outlier_filter): improve performance #5980

Merge branch 'main' into perf_occupancy
e0225cc
Select commit
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Failed to load commit list.
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) succeeded Mar 11, 2024 in 52s

CodeScene PR Check

Code Health Quality Gates: OK

  • Declining Code Health: 1 findings(s) 🚩
  • Improving Code Health: 0 findings(s) ✅
  • Affected Hotspots: 0 files(s) 🔥

Recommended Review Level: Lightweight sanity check
View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Bumpy Road Ahead occupancy_grid_map_outlier_filter_nodelet.cpp: OccupancyGridMapOutlierFilterComponent::splitPointCloudFrontBack

Annotations

Check warning on line 277 in perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Bumpy Road Ahead

OccupancyGridMapOutlierFilterComponent::splitPointCloudFrontBack has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.