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fix(blockage_diag): output blockage angle range bug fix #6445

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merged 3 commits into from
Feb 19, 2024
Merged

fix(blockage_diag): output blockage angle range bug fix #6445

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946ae95
fix: blockage_range_angle bug
badai-nguyen Feb 18, 2024
fc43094
chore: refactor
badai-nguyen Feb 18, 2024
26a771c
Revert "chore: refactor"
badai-nguyen Feb 19, 2024
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10 changes: 6 additions & 4 deletions sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -255,9 +255,11 @@

if (ground_blockage_ratio_ > blockage_ratio_threshold_) {
cv::Rect ground_blockage_bb = cv::boundingRect(ground_no_return_mask);
ground_blockage_range_deg_[0] = static_cast<float>(ground_blockage_bb.x) + angle_range_deg_[0];
ground_blockage_range_deg_[0] =
ground_blockage_bb.x * horizontal_resolution_ + angle_range_deg_[0];

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sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp#L258-L259 

Added lines #L258 - L259 were not covered by tests
ground_blockage_range_deg_[1] =
static_cast<float>(ground_blockage_bb.x + ground_blockage_bb.width) + angle_range_deg_[0];
(ground_blockage_bb.x + ground_blockage_bb.width) * horizontal_resolution_ +

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sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp#L261 

Added line #L261 was not covered by tests
angle_range_deg_[0];
if (ground_blockage_count_ <= 2 * blockage_count_threshold_) {
ground_blockage_count_ += 1;
}
Expand All @@ -266,9 +268,9 @@
}
if (sky_blockage_ratio_ > blockage_ratio_threshold_) {
cv::Rect sky_blockage_bx = cv::boundingRect(sky_no_return_mask);
sky_blockage_range_deg_[0] = static_cast<float>(sky_blockage_bx.x) + angle_range_deg_[0];
sky_blockage_range_deg_[0] = sky_blockage_bx.x * horizontal_resolution_ + angle_range_deg_[0];

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sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp#L271 

Added line #L271 was not covered by tests
sky_blockage_range_deg_[1] =
static_cast<float>(sky_blockage_bx.x + sky_blockage_bx.width) + angle_range_deg_[0];
(sky_blockage_bx.x + sky_blockage_bx.width) * horizontal_resolution_ + angle_range_deg_[0];

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

BlockageDiagComponent::filter already has high cyclomatic complexity, and now it increases in Lines of Code from 235 to 237. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp#L273 

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if (sky_blockage_count_ <= 2 * blockage_count_threshold_) {
sky_blockage_count_ += 1;
}
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