From 34219437e4705592afc817a6993223190caf0234 Mon Sep 17 00:00:00 2001 From: kobayu858 Date: Mon, 26 Aug 2024 08:43:33 +0900 Subject: [PATCH 1/2] fix:unusedFunction Signed-off-by: kobayu858 --- .../traffic_light_utils.hpp | 5 --- .../src/traffic_light_utils.cpp | 23 ----------- .../test/test_traffic_light_utils.cpp | 40 ------------------- 3 files changed, 68 deletions(-) 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 index cf4ecdd9774b8..a3a875f260951 100644 --- 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 @@ -30,11 +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 index 8aea884510ec2..a3da21c1bb578 100644 --- 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 index a80510693c487..a9e601370945d 100644 --- 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; From ea74583c7218351fc2d5469b4e546d65b8c40de9 Mon Sep 17 00:00:00 2001 From: kobayu858 Date: Mon, 26 Aug 2024 08:46:02 +0900 Subject: [PATCH 2/2] fix:unusedFunction Signed-off-by: kobayu858 --- .../include/traffic_light_utils/traffic_light_utils.hpp | 2 -- 1 file changed, 2 deletions(-) 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 index a3a875f260951..3a40c0c3b1d51 100644 --- 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 @@ -30,8 +30,6 @@ namespace traffic_light_utils { -bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal); - void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1); /**