3.0

Adjusted Signal

3.0

Raw Pattern Score

100%

Time Factor

2026-10-31

Last Push

4.1K

Stars

C++

Language

408.6K

Lines of Code

1.1K

Files

1.2K

Pattern Hits

2026-10-31

Scan Date

0.00

HC Hit Rate

Risk Review · Payload v1

Use each vector to guide manual verification of the underlying findings.

Payload schema: 1.0.0 · Engine: 2.0.0 · Scoring: heuristic-density-v1 · Scan date: 2026-10-31.

Cognitive Ownership Risk 13.3/100 · LOW

Can maintainers explain intent, assumptions, and trade-offs? 1128 finding(s).

Hallucinated Dependency & Supply Chain Risk 0.1/100 · LOW

Are imports declared and package/API names verified? 4 finding(s).

Agent Over-Engineering Ratio 0.6/100 · LOW

Are wrappers, guards, and repeated structures necessary? 20 finding(s).

PR Review Velocity Impact 14.1/100 · LOW

Which changes need focused human review? 1152 finding(s).

What These Metrics Mean

Adjusted Signal: Legacy pattern score normalized per 1,000 scanned lines and multiplied by the repository-level time factor. It is not an estimate of AI authorship.
Raw Pattern Score: Sum of severity- and context-weighted pattern findings before applying the time factor.
Time Factor: A coarse multiplier based on repository last-push metadata. It does not identify when individual code was written.
Pattern Hits: Count of configured pattern findings. Review each location and surrounding code before acting.
HC Hit Rate: High- and critical-severity findings per scanned file. Severity is a configured detector weight, not proof of a vulnerability or authorship.
Lines / Files: Scan coverage denominators used by the legacy normalized score.

Pattern-Signal History

This chart tracks the legacy adjusted pattern score across scan runs. Changes can reflect source changes, scan coverage, or detector/scoring versions; they do not measure AI adoption or prove that a team refactored code. Compare runs only when their scoring versions are compatible. The dashed line tracks the raw pattern-hit count.

Severity Breakdown

Groups findings by configured severity weight. Severity is not a confidence estimate, security rating, or proof that a package is missing. Verify imports against the project's manifests and inspect each finding in its local design context.

CRITICAL 0HIGH 3MEDIUM 36LOW 1113

Directory Score Breakdown

This horizontal bar chart shows where configured pattern scores accumulate across directories. Treat the bars as locations to inspect, not as evidence of authorship or code quality. Use the file-level findings to decide whether a directory needs a focused ownership, dependency, complexity, or review check.

Pattern Findings

The scanner identified 1152 distinct pattern matches across 13 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a detector match to inspect in context. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.

Reading the findings table: The Severity column indicates the configured finding weight (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — legacy comment-context matches receive a ×1.5 score weight. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier under the legacy scoring model.

Over-Commented Block1084 hits · 1054 pts

Severity	File	Line	Snippet	Context
LOW	docs-report.sh	1	#!/usr/bin/env bash	COMMENT
LOW	tools/Reprocess/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/DetectMoreLoopClosures/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/StereoEval/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/StereoEval/main.cpp	161	UASSERT(disp.cols == mask.cols);	COMMENT
LOW	tools/VocabularyComparison/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/EurocDataset/main.cpp	21	DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES	COMMENT
LOW	tools/ConsoleApp/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/DataRecorder/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/Matcher/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/Matcher/main.cpp	41	#include <rtabmap/utilite/UDirectory.h>	COMMENT
LOW	tools/CameraRGBD/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/CameraRGBD/main.cpp	41	#include <opencv2/highgui/highgui.hpp>	COMMENT
LOW	tools/Info/main.cpp	41		COMMENT
LOW	tools/KittiDataset/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/Report/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/ReduceGraph/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/CidSimsDataset/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/Export/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/Export/main.cpp	41	#include <rtabmap/core/global_map/OctoMap.h>	COMMENT
LOW	tools/OdometryViewer/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/RgbdDataset/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/EpipolarGeometry/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	tools/EpipolarGeometry/main.cpp	41	#include <opencv2/geometry.hpp>	COMMENT
LOW	tools/LidarViewer/main.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	docker/jfr2018/run_kitti_datasets.sh	141	# 4-12: --FAST/Threshold 12 --OdomORBSLAM2/ThDepth 40	COMMENT
LOW	app/ios/RTABMapApp/RTABMapApp-Bridging-Header.h	1	//	COMMENT
LOW	app/ios/RTABMapApp/NativeWrapper.hpp	1	//	COMMENT
LOW	app/android/jni/RTABMapApp.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/RTABMapApp.cpp	41	#ifdef RTABMAP_ARENGINE	COMMENT
LOW	app/android/jni/RTABMapApp.cpp	61	#include <rtabmap/core/Compression.h>	COMMENT
LOW	app/android/jni/point_cloud_drawable.cpp	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/scene.cpp	21	#include <rtabmap/utilite/ULogger.h>	COMMENT
LOW	app/android/jni/CameraAREngine.h	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/CameraARCore.h	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/graph_drawable.h	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/point_cloud_drawable.h	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/CameraTango.h	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/CameraMobile.h	21	(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;	COMMENT
LOW	app/android/jni/background_renderer.h	21	#include <GLES2/gl2.h>	COMMENT
LOW	app/android/jni/util.h	241	int color_camera_n = NormalizedColorCameraRotation(color_camera_rotation);	COMMENT
LOW	app/android/jni/RTABMapApp.h	41	#include "ProgressionStatus.h"	COMMENT
LOW	app/android/jni/RTABMapApp.h	101	// Set render camera's viewing angle, first person, third person or top down.	COMMENT
LOW	app/android/jni/scene.h	21	#include <jni.h>	COMMENT
LOW	app/android/jni/scene.h	41	#include "point_cloud_drawable.h"	COMMENT
LOW	app/android/jni/scene.h	81	// @param: cur_pose_transformation, latest pose's transformation.	COMMENT
LOW	app/android/jni/tango-gl/include/tango-gl/util.h	21	#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642	COMMENT
LOW	app/android/jni/tango-gl/include/tango-gl/util.h	41	#define LOG_TAG "rtabmap"	COMMENT
LOW	app/android/jni/tango-gl/include/tango-gl/obj_loader.h	21		COMMENT
LOW	app/android/jni/tango-gl/include/tango-gl/obj_loader.h	41	// vn 1.00 2.00 3.00	COMMENT
LOW	app/android/jni/third-party/include/glm/vec4.hpp	1	///////////////////////////////////////////////////////////////////////////////////	COMMENT
LOW	app/android/jni/third-party/include/glm/vec4.hpp	21	/// THE SOFTWARE.	COMMENT
LOW	app/android/jni/third-party/include/glm/integer.hpp	1	///////////////////////////////////////////////////////////////////////////////////	COMMENT
LOW	app/android/jni/third-party/include/glm/integer.hpp	21	/// THE SOFTWARE.	COMMENT
LOW	…roid/jni/third-party/include/glm/vector_relational.hpp	1	///////////////////////////////////////////////////////////////////////////////////	COMMENT
LOW	…roid/jni/third-party/include/glm/vector_relational.hpp	21	/// THE SOFTWARE.	COMMENT
LOW	app/android/jni/third-party/include/glm/mat2x3.hpp	1	///////////////////////////////////////////////////////////////////////////////////	COMMENT
LOW	app/android/jni/third-party/include/glm/mat2x3.hpp	21	/// THE SOFTWARE.	COMMENT
LOW	app/android/jni/third-party/include/glm/mat2x3.hpp	41		COMMENT
LOW	app/android/jni/third-party/include/glm/mat4x4.hpp	1	///////////////////////////////////////////////////////////////////////////////////	COMMENT
1024 more matches not shown…

AI Slop Vocabulary18 hits · 58 pts

Severity	File	Line	Snippet	Context
MEDIUM	corelib/test/test_registrationicp.cpp	497	// more robust on real-world F2M drift (where libpointmatcher iteration	COMMENT
MEDIUM⚡	corelib/test/test_rtabmap_integration.cpp	1931	// g2o and gtsam each cover both robust/no-robust at the default	COMMENT
MEDIUM⚡	corelib/test/test_rtabmap_integration.cpp	1933	// switches (Optimizer/Robust=true), so it can't exercise the robust	COMMENT
MEDIUM⚡	corelib/test/test_rtabmap_integration.cpp	1942	// Golden trajectory captured from the g2o-robust-maxerr3 variant and	COMMENT
MEDIUM	corelib/test/test_rtabmap_integration.cpp	1911	// The full robust combo (g2o + Robust=true + MaxError=3) is the golden;	COMMENT
MEDIUM	corelib/test/test_rtabmap_integration.cpp	1963	// optimize() would warn and clear the robust flag, so this variant	COMMENT
MEDIUM	corelib/test/test_rtabmap_integration.cpp	1964	// would silently measure the non-robust path instead of failing.	COMMENT
MEDIUM	corelib/test/test_rtabmap_integration.cpp	1996	// Regenerate golden from the most robust combo. Toggled on for a	COMMENT
MEDIUM	corelib/test/test_rtabmap_integration.cpp	1998	// if(v.optType == Optimizer::kTypeG2O && v.robust && v.maxError > 0.0f)	COMMENT
MEDIUM	corelib/test/test_rtabmap_integration.cpp	2032	// Graph repair (RGBD/OptimizeMaxErrorRepairRadius) on the same robust-graph-	COMMENT
MEDIUM	corelib/test/test_registrationvis.cpp	44	// converge tighter and keep the OF test robust across platforms	COMMENT
MEDIUM	corelib/test/test_optimizer_gtsam.cpp	110	// Checks BetweenFactorSwitchableLinear, the robust loop closure factor used	COMMENT
MEDIUM	corelib/test/test_optimizer.cpp	880	// Without Vertigo, optimize() warns and silently clears the robust	COMMENT
MEDIUM	corelib/test/test_optimizer.cpp	914	// meters for the robust kernel to clearly prefer "disable the LC" over	COMMENT
MEDIUM	corelib/test/test_optimizer.cpp	975	// Without robust, the bad loop closure is a hard constraint -- the	COMMENT
MEDIUM	corelib/include/rtabmap/core/Optimizer.h	149	bool isRobust() const {return robust_;} ///< If true, use a robust kernel / switchable factors against	CODE
MEDIUM	corelib/src/optimizer/OptimizerGTSAM.cpp	1366	// small sigmas). The robust-Huber wrapping is also invariant.	COMMENT
MEDIUM	corelib/src/optimizer/OptimizerCeres.cpp	689	// No robust kernel on between-camera constraints (matches g2o/GTSAM:	COMMENT

Decorative Section Separators10 hits · 30 pts

Severity	File	Line	Snippet	Context
MEDIUM	app/src/CMakeLists.txt	62	#---------------------------	COMMENT
MEDIUM	app/src/CMakeLists.txt	64	#---------------------------	COMMENT
MEDIUM	corelib/test/CMakeLists.txt	4	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/test/CMakeLists.txt	17	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/src/odometry/OdometryORBSLAM3.cpp	246	//#--------------------------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/src/odometry/OdometryORBSLAM3.cpp	248	//#--------------------------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/src/odometry/OdometryORBSLAM3.cpp	295	//#--------------------------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/src/odometry/OdometryORBSLAM3.cpp	297	//#--------------------------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/src/odometry/OdometryORBSLAM2.cpp	676	//#--------------------------------------------------------------------------------------------	COMMENT
MEDIUM	corelib/src/odometry/OdometryORBSLAM2.cpp	678	//#--------------------------------------------------------------------------------------------	COMMENT

Verbosity Indicators10 hits · 20 pts

Severity	File	Line	Snippet	Context
LOW	guilib/src/PreferencesDialog.cpp	8160	// Step 1: RGB	COMMENT
LOW	guilib/src/PreferencesDialog.cpp	8188	// Step 2: IR	COMMENT
LOW	guilib/src/PreferencesDialog.cpp	8238	// Step 3: Extrinsics	COMMENT
LOW	guilib/src/PreferencesDialog.cpp	8463	// Step 3: Extrinsics	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1670	// Step 1: robot at (3, 0), on top of N3. _pathCurrentIndex catches up to the	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1678	// Step 2: robot at (2, 0). _pathCurrentIndex advances to 2, and the goal	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1686	// Step 3: robot at (1, 0) (on N1). Distance to final goal == 0, well within	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1734	// Step 1: at (3, 0). process() walks the path forward, sees N2 and N1 are	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1742	// Step 2: at (2, 0). Still tracking the path.	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1746	// Step 3: at (1, 0). Goal reached, path cleared.	COMMENT

Structural Annotation Overuse10 hits · 20 pts

Severity	File	Line	Snippet	Context
LOW	guilib/src/PreferencesDialog.cpp	8160	// Step 1: RGB	COMMENT
LOW	guilib/src/PreferencesDialog.cpp	8188	// Step 2: IR	COMMENT
LOW	guilib/src/PreferencesDialog.cpp	8238	// Step 3: Extrinsics	COMMENT
LOW	guilib/src/PreferencesDialog.cpp	8463	// Step 3: Extrinsics	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1670	// Step 1: robot at (3, 0), on top of N3. _pathCurrentIndex catches up to the	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1678	// Step 2: robot at (2, 0). _pathCurrentIndex advances to 2, and the goal	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1686	// Step 3: robot at (1, 0) (on N1). Distance to final goal == 0, well within	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1734	// Step 1: at (3, 0). process() walks the path forward, sees N2 and N1 are	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1742	// Step 2: at (2, 0). Still tracking the path.	COMMENT
LOW⚡	corelib/test/test_rtabmap.cpp	1746	// Step 3: at (1, 0). Goal reached, path cleared.	COMMENT

Excessive Try-Catch Wrapping9 hits · 16 pts

Severity	File	Line	Snippet	Context
MEDIUM	app/ios/RTABMapApp/ViewController.swift	2254	print("Error renaming file \(fileURL) to \(filePath)")	CODE
MEDIUM	app/ios/RTABMapApp/ViewController.swift	2271	print("Error renaming file \(fileURL) to \(filePath)")	CODE
MEDIUM	app/ios/RTABMapApp/ViewController.swift	2430	print("Something went wrong while zipping")	CODE
MEDIUM	app/ios/RTABMapApp/ViewController.swift	2485	print("Error while enumerating files : \(error.localizedDescription)")	CODE
MEDIUM	app/ios/RTABMapApp/ViewController.swift	2766	print("Error deleting file \(databaseURL)")	CODE
LOW	corelib/src/python/rtabmap_superpoint_rpautrat.py	32	except Exception as e:	CODE
MEDIUM	corelib/src/python/rtabmap_superpoint_rpautrat.py	33	print(f"Error loading weights: {e}")	CODE
LOW	corelib/src/python/rtabmap_superpoint_rpautrat.py	52	except Exception as e:	CODE
MEDIUM	corelib/src/python/rtabmap_superpoint_rpautrat.py	53	print(f"Error creating tensor: {e}")	CODE

Synthetic Comment Markers1 hit · 8 pts

Severity	File	Line	Snippet	Context
HIGH	app/android/jni/CameraTango.cpp	209	// Set auto-recovery for motion tracking as requested by the user.	COMMENT

AI Response Leakage1 hit · 8 pts

Severity	File	Line	Snippet	Context
HIGH	corelib/include/rtabmap/core/clams/frame_projector.h	45	//! pixel id and depth value. Here I've added color, too, so that this represents everything	COMMENT

Empty Error Handlers1 hit · 5 pts

Severity	File	Line	Snippet	Context
HIGH	…b/src/superpoint_rpautrat/superpoint_to_torchscript.py	63	except:	CODE

Unused Imports4 hits · 4 pts

Severity	File	Line	Context
LOW	archive/2022-IlluminationInvariant/scripts/trace.py	2	CODE
LOW	corelib/src/python/rtabmap_superglue.py	8	CODE
LOW	corelib/src/python/rtabmap_netvlad.py	12	CODE
LOW	corelib/src/python/rtabmap_netvlad.py	21	CODE

Self-Referential Comments1 hit · 2 pts

Severity	File	Line	Snippet	Context
MEDIUM	corelib/src/SimpleIni.h	50	-# Define the appropriate symbol for the converter you wish to use and	CODE

Deep Nesting2 hits · 2 pts

Severity	File	Line	Snippet	Context
LOW	doxygen/generate_parameters_page.py	84		CODE
LOW	doxygen/generate_parameters_page.py	121		CODE

Redundant / Tautological Comments1 hit · 2 pts

Severity	File	Line	Snippet	Context
LOW	…b/src/superpoint_rpautrat/superpoint_to_torchscript.py	56	# Check if weights are already TorchScript	COMMENT

introlab/rtabmap

Open-Source Code Quality, Security and Technical Debt Review