perf(costmap_generator): manual blurring and fill polygons without OpenCV #9160
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Oct 25, 2024 in 54s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
Change in average Code Health of affected files: -0.34 (9.47 -> 9.13)
- Declining Code Health: 4 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
Details
🚩 Declining Code Health (highest to lowest):
- Deep, Nested Complexity objects_to_costmap.cpp: naive_mean_filter_on_grid_edges
- Complex Method objects_to_costmap.cpp: naive_mean_filter_on_grid_edges
- Bumpy Road Ahead objects_to_costmap.cpp: naive_mean_filter_on_grid_edges
- Bumpy Road Ahead objects_to_costmap.cpp: ObjectsToCostmap::makeCostmapFromObjects
✅ Improving Code Health:
- Excess Number of Function Arguments object_map_utils.cpp: FillPolygonAreas
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
naive_mean_filter_on_grid_edges has a cyclomatic complexity of 12, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
naive_mean_filter_on_grid_edges 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
ObjectsToCostmap::makeCostmapFromObjects 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Deep, Nested Complexity
naive_mean_filter_on_grid_edges has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Excess Number of Function Arguments
FillPolygonAreas is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Excess Number of Function Arguments
fill_polygon_areas has 8 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
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