fix(traffic_light_utils): fix unusedFunction (autowarefoundation#8605)

* fix:unusedFunction Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:unusedFunction Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
a-maumau · Sep 2, 2024 · 7144fd3 · 7144fd3
1 parent 2f95476
commit 7144fd3
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diff --git a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
@@ -30,13 +30,6 @@
 namespace traffic_light_utils
 {
 
-bool isRoiValid(
-  const tier4_perception_msgs::msg::TrafficLightRoi & roi, uint32_t width, uint32_t height);
-
-void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi);
-
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal);
-
 void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1);
 
 /**

diff --git a/common/traffic_light_utils/src/traffic_light_utils.cpp b/common/traffic_light_utils/src/traffic_light_utils.cpp
@@ -17,29 +17,6 @@
 namespace traffic_light_utils
 {
 
-bool isRoiValid(
-  const tier4_perception_msgs::msg::TrafficLightRoi & roi, uint32_t width, uint32_t height)
-{
-  uint32_t x1 = roi.roi.x_offset;
-  uint32_t x2 = roi.roi.x_offset + roi.roi.width;
-  uint32_t y1 = roi.roi.y_offset;
-  uint32_t y2 = roi.roi.y_offset + roi.roi.height;
-  return roi.roi.width > 0 && roi.roi.height > 0 && x1 < width && y1 < height && x2 < width &&
-         y2 < height;
-}
-
-void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi)
-{
-  roi.roi.height = roi.roi.width = 0;
-}
-
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
-{
-  return signal.elements.size() == 1 &&
-         signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&
-         signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
-}
-
 void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence)
 {
   signal.elements.resize(1);

diff --git a/common/traffic_light_utils/test/test_traffic_light_utils.cpp b/common/traffic_light_utils/test/test_traffic_light_utils.cpp
@@ -18,46 +18,6 @@
 namespace traffic_light_utils
 {
 
-TEST(isRoiValid, roi_validity)
-{
-  tier4_perception_msgs::msg::TrafficLightRoi test_roi;
-  test_roi.roi.x_offset = 300;
-  test_roi.roi.y_offset = 200;
-  test_roi.roi.width = 340;
-  test_roi.roi.height = 200;
-  uint32_t img_width = 640;
-  uint32_t img_heigh = 480;
-  EXPECT_FALSE(isRoiValid(test_roi, img_width, img_heigh));
-  test_roi.roi.width = 339;
-  EXPECT_TRUE(isRoiValid(test_roi, img_width, img_heigh));
-}
-
-TEST(setRoiInvalid, set_roi_size)
-{
-  tier4_perception_msgs::msg::TrafficLightRoi test_roi;
-  test_roi.roi.x_offset = 300;
-  test_roi.roi.y_offset = 200;
-  test_roi.roi.width = 300;
-  test_roi.roi.height = 200;
-  EXPECT_EQ(test_roi.roi.width, (uint32_t)300);
-  EXPECT_EQ(test_roi.roi.height, (uint32_t)200);
-  setRoiInvalid(test_roi);
-  EXPECT_EQ(test_roi.roi.width, (uint32_t)0);
-  EXPECT_EQ(test_roi.roi.height, (uint32_t)0);
-}
-
-TEST(isSignalUnknown, signal_element)
-{
-  tier4_perception_msgs::msg::TrafficLight test_signal;
-  tier4_perception_msgs::msg::TrafficLightElement element;
-  element.color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
-  element.shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
-  test_signal.elements.push_back(element);
-  EXPECT_TRUE(isSignalUnknown(test_signal));
-  test_signal.elements[0].color = tier4_perception_msgs::msg::TrafficLightElement::RED;
-  EXPECT_FALSE(isSignalUnknown(test_signal));
-}
-
 TEST(setSignalUnknown, set_signal_element)
 {
   tier4_perception_msgs::msg::TrafficLight test_signal;