The module contains 2 functions with similar structure: process_msg_3d,process_rois. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

The module contains 2 functions with similar structure: match_det3d_to_collector,match_rois_to_collector. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

get_offset 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.

match_rois_to_collector 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.

match_det3d_to_collector 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.

get_offset 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.

get_offset has 3 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.

This module has a mean cyclomatic complexity of 5.50 across 10 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

get_offset has a nested complexity depth of 5, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

match_rois_to_collector 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.

match_det3d_to_collector 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.

The module contains 2 functions with similar structure: roi_callback,sub_callback. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

check_fusion_status 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.