feat(lidar_centerpoint): output the covariance of pose and twist #6573
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
succeeded
Apr 12, 2024 in 45s
CodeScene PR Check
✅ Code Health Quality Gates: OK
- Declining Code Health: 2 findings(s) 🚩
Details
🚩 Declining Code Health (highest to lowest):
- Large Method node.cpp: LidarCenterPointNode::LidarCenterPointNode
- Excess Number of Function Arguments ros_utils.cpp: box3DToDetectedObject
Annotations
Check warning on line 78 in perception/lidar_centerpoint/lib/ros_utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Excess Number of Function Arguments
box3DToDetectedObject has 5 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
Check warning on line 106 in perception/lidar_centerpoint/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
LidarCenterPointNode::LidarCenterPointNode increases from 85 to 86 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.
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