feat(lidar_marker_localizer): road surface lidar marker extension #11701
+877
−117
CodeScene Delta Analysis / CodeScene Code Health Review (main)
failed
Feb 18, 2026 in 46s
CodeScene PR Check
Quality Gate Failed
Gates Failed
(1 file with Deep, Nested Complexity)
(1 file with Complex Method, Large Method)
Gates Passed
See analysis details in CodeScene
Reason for failure
| Enforce critical code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| landmark_manager.cpp | 1 critical rule | 9.84 → 9.39 | Suppress |
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| lidar_marker_localizer.cpp | 2 advisory rules | 6.85 → 6.15 | Suppress |
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Complex Method lidar_marker_localizer.cpp: LidarMarkerLocalizer::detect_landmarks
- Deep, Nested Complexity landmark_manager.cpp: LandmarkManager::calculate_new_self_pose
- Large Method lidar_marker_localizer.cpp: LidarMarkerLocalizer::LidarMarkerLocalizer
- Complex Method lidar_marker_localizer.cpp: LidarMarkerLocalizer::main_process
- Large Method lidar_marker_localizer.cpp: LidarMarkerLocalizer::save_intensity
✅ Improving Code Health:
- Bumpy Road Ahead landmark_manager.cpp: LandmarkManager::calculate_new_self_pose
Annotations
codescene-delta-analysis / CodeScene Code Health Review (main)
✅ No longer an issue: Bumpy Road Ahead
LandmarkManager::calculate_new_self_pose is no longer above the threshold for logical blocks with deeply nested code
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Deep, Nested Complexity
LandmarkManager::calculate_new_self_pose 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 Code Health Review (main)
❌ Getting worse: Complex Method
LidarMarkerLocalizer::detect_landmarks increases in cyclomatic complexity from 26 to 37, 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 Code Health Review (main)
❌ Getting worse: Complex Method
LidarMarkerLocalizer::main_process increases in cyclomatic complexity from 9 to 14, 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 Code Health Review (main)
❌ Getting worse: Large Method
LidarMarkerLocalizer::LidarMarkerLocalizer increases from 74 to 101 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Large Method
LidarMarkerLocalizer::save_intensity has 80 lines, 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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