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fix(ground_segmentation): add intensity field #6791

Merged
merged 13 commits into from
May 9, 2024
+78 −32

refactor: ray_ground_filter

5cf469e
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Merged

fix(ground_segmentation): add intensity field #6791

refactor: ray_ground_filter
5cf469e
Select commit
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Failed to load commit list.
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed May 2, 2024 in 35s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 1 findings(s) 🚩
  • Improving Code Health: 1 findings(s) ✅

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Large Method ransac_ground_filter_nodelet.cpp: RANSACGroundFilterComponent::filter

✅ Improving Code Health:

  • Overall Code Complexity ray_ground_filter_nodelet.cpp

Annotations

Check warning on line 316 in perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

See this annotation in the file changed.

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

❌ Getting worse: Large Method 

RANSACGroundFilterComponent::filter increases from 77 to 93 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

Check notice on line 1 in perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp

See this annotation in the file changed.

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

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 5.25 to 5.11, 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.
View more details on CodeScene Delta Analysis