uzh-rpg/rpg_svo

• Repository: https://github.com/uzh-rpg/rpg_svo
• Commit: d6161063b47f36ce78252ee4c4fedf3f6d8f2898
• Generated: 2026-11-13T23:42:17+00:00
• Scorer 0.1.0, scoring prov-4+qual-2+sec-2, report schema v2

Scores

AI provenance

No AI attribution or AI-consistent velocity signals detected.

• Explicitly attributed share (lower bound): 0.0%

• Unattributed share in AI-consistent velocity bursts: 0.0%

• Estimated AI-generated share: 0.0%

• Stylometry index: 0.34 per 1,000 lines (narrated steps 3, placeholders 0, assistant phrasing 0, emoji 0). Reported as a signal, not scored.

Evidence

• step-by-step narration comment: // finally, sum results of vb1, vb2 and vres_sum (svo/src/feat)
• step-by-step narration comment: // now we sample along the epipolar line (svo/src/matc)
• step-by-step narration comment: // Now we go through each grid cell and select one point to match. (svo/src/repr)

AI provenance describes how code was produced; it is not a quality judgment. Unless attribution is explicit, these are signals consistent with AI generation, not proof. Squash/rebase workflows, imported code, and rewritten history reduce accuracy.

Code quality

Code quality is poor: test-to-source ratio 0.12, no CI test run detected; 24% of function code in complex or long functions; 14% duplicated lines. Weakest area: lint.

• Functions: 284; mean complexity 3.2, 90th percentile 8; 10 complex and 5 long functions
• Duplicated lines: 13.9% of 6,277 compared
• Tests: 1,032 test lines for 8,956 source lines (ratio 0.12); CI test commands: none detected; 7% of recent source commits also change tests
• Docs missing or thin: contributing, changelog

Most complex functions:

• evaluate_trajectory in svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py: complexity 24, 60 lines
• load_dataset in svo_analysis/src/svo_analysis/analyse_trajectory.py: complexity 23, 24 lines
• svo::Visualizer::publishMinimal in svo_ros/src/visualizer.cpp: complexity 22, 122 lines
• svo::pose_optimizer::optimizeGaussNewton in svo/src/pose_optimizer.cpp: complexity 21, 111 lines
• svo::SparseImgAlign::computeResiduals in svo/src/sparse_img_align.cpp: complexity 21, 73 lines

Security

Security posture is adequate: no high-impact findings. Weakest area: posture.

• Posture checks passed: lockfiles; missing: security policy, dependency updates, signed commits

Static signals only: the scorer never runs the project's code. Secret findings are pattern matches that were not verified, and secret values are never stored.

Repository profile

• Source lines: 8,956; test lines: 1,032