fix(ground_segmentation): add intensity field #6791
Merged
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
May 9, 2024 in 43s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 2 findings(s) 🚩
Details
🚩 Declining Code Health (highest to lowest):
- Large Method ransac_ground_filter_nodelet.cpp: RANSACGroundFilterComponent::filter
- Bumpy Road Ahead ray_ground_filter_nodelet.cpp: RayGroundFilterComponent::ExtractPointsIndices
Annotations
Check warning on line 316 in perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
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 warning on line 306 in perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
RayGroundFilterComponent::ExtractPointsIndices 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.
Check notice on line 1 in perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 5.25 to 5.33, 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.
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