undistort_pointcloud has a cyclomatic complexity of 19, 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.

DistortionCorrectorBase::try_compute_angle_conversion 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.

undistort_pointcloud 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.

DistortionCorrectorBase::process_twist_message 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.

DistortionCorrectorBase::enqueue_imu 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.

This module has a mean cyclomatic complexity of 4.15 across 20 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.

introduced similar code in: TEST:DistortionCorrectorTest:TestTryComputeAngleConversionCartesianPointcloud,TEST:DistortionCorrectorTest:TestTryComputeAngleConversionOnHesaiPointcloud,TEST:DistortionCorrectorTest:TestTryComputeAngleConversionOnRandomPointcloud,TEST:DistortionCorrectorTest:TestTryComputeAngleConversionOnVelodynePointcloud and 11 more functions. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

generate_default_pointcloud has a cyclomatic complexity of 11, 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.

TEST:DistortionCorrectorTest:TestUndistortPointcloudWithPureRotationalMotion has 81 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.

TEST:DistortionCorrectorTest:TestUndistortPointcloudWithPureLinearMotion has 73 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.

generate_default_pointcloud 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.