feat(autoware_pointcloud_preprocessor): cuda-accelerated pointcloud concatenation #9455
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Jan 28, 2025 in 58s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
Change in average Code Health of affected files: +0.07 (7.39 -> 7.46)
- Declining Code Health: 20 findings(s) 🚩
- Improving Code Health: 15 findings(s) ✅
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method test_concatenate_node_unit.cpp: TEST:ConcatenateCloudTest:TestConcatenateClouds
- Complex Method combine_cloud_handler.cpp: combine_pointclouds
- Code Duplication concatenate_and_time_sync_node.cpp
- Code Duplication memory.cpp
- Lines of Code in a Single File test_concatenate_node_component.py
- Code Duplication test_concatenate_node_component.py
- Code Duplication test_concatenate_node_unit.cpp
- Large Method test_concatenate_node_component.py: TestConcatenateNode.test_8_abnormal_pointcloud_drop_continue_normal
- Bumpy Road Ahead concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchronizerComponent
- Large Method test_concatenate_node_component.py: TestConcatenateNode.test_7_abnormal_pointcloud_delay
- Complex Method combine_cloud_handler.cpp: combine_pointclouds
- Complex Method combine_cloud_handler.cpp: convert_to_xyzirc_cloud
- Excess Number of Function Arguments test_concatenate_node_component.py: generate_transform_msg
- Primitive Obsession test_concatenate_node_unit.cpp
- Excess Number of Function Arguments test_concatenate_node_unit.cpp: generate_transform_msg
- Bumpy Road Ahead combine_cloud_handler.cpp: combine_pointclouds
- Bumpy Road Ahead combine_cloud_handler.cpp: CombineCloudHandlerBase::process_twist
- Bumpy Road Ahead combine_cloud_handler.cpp: CombineCloudHandlerBase::process_odometry
- Bumpy Road Ahead combine_cloud_handler.cpp: convert_to_xyzirc_cloud
- Bumpy Road Ahead combine_cloud_handler.cpp: combine_pointclouds
✅ Improving Code Health:
- Overall Code Complexity combine_cloud_handler.cpp
- Overall Code Complexity concatenate_and_time_sync_node.cpp
- Code Duplication combine_cloud_handler.cpp
- Complex Method concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::publish_clouds
- Complex Method concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::cloud_callback
- Complex Method combine_cloud_handler.cpp: CombineCloudHandler::combine_pointclouds
- Complex Method combine_cloud_handler.cpp: CombineCloudHandler::convert_to_xyzirc_cloud
- Bumpy Road Ahead concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::publish_clouds
- Bumpy Road Ahead concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::cloud_callback
- Complex Conditional combine_cloud_handler.cpp: CombineCloudHandler::convert_to_xyzirc_cloud
- Bumpy Road Ahead combine_cloud_handler.cpp: CombineCloudHandler::process_twist
- Bumpy Road Ahead combine_cloud_handler.cpp: CombineCloudHandler::process_odometry
- Bumpy Road Ahead combine_cloud_handler.cpp: CombineCloudHandler::convert_to_xyzirc_cloud
- Bumpy Road Ahead combine_cloud_handler.cpp: CombineCloudHandler::combine_pointclouds
- Deep, Nested Complexity concatenate_and_time_sync_node.cpp: PointCloudConcatenateDataSynchronizerComponent::publish_clouds
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Code Duplication
introduced similar code in: CombineCloudHandlerBase::process_odometry,CombineCloudHandlerBase::process_twist. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Code Duplication
reduced similar code in: CombineCloudHandler::process_odometry,CombineCloudHandler::process_twist. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
CombineCloudHandler::combine_pointclouds is no longer above the threshold for cyclomatic complexity. 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)
✅ No longer an issue: Complex Method
CombineCloudHandler::convert_to_xyzirc_cloud is no longer above the threshold for cyclomatic complexity. 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: Complex Method
combine_pointclouds has a cyclomatic complexity of 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
combine_pointclouds has a cyclomatic complexity of 9, 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: Complex Method
convert_to_xyzirc_cloud has a cyclomatic complexity of 9, 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)
✅ No longer an issue: Complex Conditional
CombineCloudHandler::convert_to_xyzirc_cloud no longer has a complex conditional. 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Complex Conditional
convert_to_xyzirc_cloud 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Bumpy Road Ahead
CombineCloudHandler::process_twist is no longer above the threshold for logical blocks with deeply nested code. 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)
✅ No longer an issue: Bumpy Road Ahead
CombineCloudHandler::process_odometry is no longer above the threshold for logical blocks with deeply nested code. 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)
✅ No longer an issue: Bumpy Road Ahead
CombineCloudHandler::convert_to_xyzirc_cloud is no longer above the threshold for logical blocks with deeply nested code. 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)
✅ No longer an issue: Bumpy Road Ahead
CombineCloudHandler::combine_pointclouds is no longer above the threshold for logical blocks with deeply nested code. 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
combine_pointclouds 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
CombineCloudHandlerBase::process_twist 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
CombineCloudHandlerBase::process_odometry 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
convert_to_xyzirc_cloud 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
combine_pointclouds 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)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 5.86 to 5.55, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Code Duplication
The module contains 2 functions with similar structure: PointCloudConcatenateDataSynchronizerComponent::cloud_callback,PointCloudConcatenateDataSynchronizerComponent::cuda_cloud_callback. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Complex Method
PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchronizerComponent increases in cyclomatic complexity from 18 to 30, 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)
✅ No longer an issue: Complex Method
PointCloudConcatenateDataSynchronizerComponent::publish_clouds is no longer above the threshold for cyclomatic complexity. 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)
✅ No longer an issue: Complex Method
PointCloudConcatenateDataSynchronizerComponent::cloud_callback is no longer above the threshold for cyclomatic complexity. 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)
❌ Getting worse: Bumpy Road Ahead
PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchronizerComponent increases from 2 to 6 logical blocks with deeply nested code, threshold is one single 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)
✅ No longer an issue: Bumpy Road Ahead
PointCloudConcatenateDataSynchronizerComponent::publish_clouds is no longer above the threshold for logical blocks with deeply nested code. 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.
Loading