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fix(traffic_light_utils): fix unusedFunction #8605

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merged 2 commits into from
Aug 26, 2024
Merged

fix(traffic_light_utils): fix unusedFunction #8605

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3421943
fix:unusedFunction
kobayu858 Aug 25, 2024
ea74583
fix:unusedFunction
kobayu858 Aug 25, 2024
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7 changes: 0 additions & 7 deletions common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

/**
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23 changes: 0 additions & 23 deletions common/traffic_light_utils/src/traffic_light_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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40 changes: 0 additions & 40 deletions common/traffic_light_utils/test/test_traffic_light_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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