perf(common_ground_filter): performance tuning #5861
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 1 findings(s) 🚩
- Improving Code Health: 2 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method scan_ground_filter_nodelet.cpp: ScanGroundFilterComponent::onParameter
✅ Improving Code Health:
- Overall Code Complexity scan_ground_filter_nodelet.cpp
- Bumpy Road Ahead scan_ground_filter_nodelet.cpp: ScanGroundFilterComponent::convertPointcloudGridScan
Annotations
Check warning on line 703 in perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
ScanGroundFilterComponent::onParameter has a cyclomatic complexity of 10, threshold = 9. 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.
Check notice on line 165 in perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Bumpy Road Ahead
ScanGroundFilterComponent::convertPointcloudGridScan is no longer above the threshold for logical blocks with deeply nested code. 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.
Check notice on line 1 in perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 7.29 to 6.17, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.