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fix(pointcloud preprocessor): fix ring outlier filter and concatenation to use PointXYZIRC #6870

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fix intensity of PointXYZIRC from float to uint8

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fix(pointcloud preprocessor): fix ring outlier filter and concatenation to use PointXYZIRC #6870

fix intensity of PointXYZIRC from float to uint8
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed May 7, 2024 in 57s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 2 findings(s) 🚩

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method ring_outlier_filter_nodelet.cpp: RingOutlierFilterComponent::faster_filter
  • Complex Method concatenate_and_time_sync_nodelet.cpp: PointCloudConcatenateDataSynchronizerComponent::combineClouds

Annotations

Check warning on line 431 in sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp

See this annotation in the file changed.

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

❌ Getting worse: Complex Method 

PointCloudConcatenateDataSynchronizerComponent::combineClouds increases in cyclomatic complexity from 14 to 15, 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 1 in sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp

See this annotation in the file changed.

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

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.08 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.

Check warning on line 273 in sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp

See this annotation in the file changed.

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

❌ Getting worse: Complex Method 

RingOutlierFilterComponent::faster_filter already has high cyclomatic complexity, and now it increases in Lines of Code from 166 to 201. 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.
View more details on CodeScene Delta Analysis