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feat(compare_map_segmentation): change height downsize logic #6429

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merged 2 commits into from
Feb 16, 2024
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feat(compare_map_segmentation): change height downsize logic #6429

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ed9de41
fix: change height downsize logic
YoshiRi Feb 15, 2024
c719cbc
changed inclusion model from sphere to cube
YoshiRi Feb 15, 2024
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6 changes: 4 additions & 2 deletions perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 Autoware Foundation

Check notice on line 1 in perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.75 to 4.88, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -241,8 +241,10 @@
const double dist_x = map->points.at(voxel_index).x - target_point.x;
const double dist_y = map->points.at(voxel_index).y - target_point.y;
const double dist_z = map->points.at(voxel_index).z - target_point.z;
const double sqr_distance = dist_x * dist_x + dist_y * dist_y + dist_z * dist_z;
if (sqr_distance < distance_threshold * distance_threshold * downsize_ratio_z_axis_) {
// check if the point is inside the distance threshold voxel
if (
std::abs(dist_x) < distance_threshold && std::abs(dist_y) < distance_threshold &&

Check warning on line 246 in perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

VoxelGridMapLoader::is_in_voxel has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
std::abs(dist_z) < distance_threshold * downsize_ratio_z_axis_) {

Check warning on line 247 in perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp

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Codecov / codecov/patch

perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp#L246-L247 

Added lines #L246 - L247 were not covered by tests
return true;
}
}
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