From 7c547a88ddaf9b8ac0d57066804b1ab86ad9c460 Mon Sep 17 00:00:00 2001
From: Jie Liu <36734411+freeHackOfJeff@users.noreply.github.com>
Date: Sat, 2 Feb 2019 01:45:03 +0800
Subject: [PATCH] Perception: remove obsolated ObjectInRoiSlackCheck method as
 well as test case (#6680)

---
 .../perception/common/geometry/roi_filter.cc  | 29 -------------
 .../perception/common/geometry/roi_filter.h   |  7 ----
 .../common/geometry/roi_filter_test.cc        | 41 -------------------
 3 files changed, 77 deletions(-)

diff --git a/modules/perception/common/geometry/roi_filter.cc b/modules/perception/common/geometry/roi_filter.cc
index bc71c16dbc..ac69bd568b 100644
--- a/modules/perception/common/geometry/roi_filter.cc
+++ b/modules/perception/common/geometry/roi_filter.cc
@@ -112,35 +112,6 @@ bool ObjectInRoiCheck(const HdmapStructConstPtr roi,
   return valid_objects->size() > 0 ? true : false;
 }
 
-bool ObjectInRoiSlackCheck(const HdmapStructConstPtr roi,
-                           const std::vector<ObjectPtr>& objects,
-                           std::vector<ObjectPtr>* valid_objects) {
-  if (roi == nullptr ||
-      roi->road_polygons.size() + roi->junction_polygons.size() == 0) {
-    valid_objects->assign(objects.begin(), objects.end());
-    return true;
-  }
-  valid_objects->clear();
-  valid_objects->reserve(objects.size());
-  for (std::size_t i = 0; i < objects.size(); i++) {
-    // keep object when its ct in roi
-    if (IsObjectInRoi(roi, objects[i])) {
-      valid_objects->push_back(objects[i]);
-      continue;
-    }
-    // keep known object when its bbox in roi
-    if (objects[i]->type == ObjectType::UNKNOWN ||
-        objects[i]->type == ObjectType::UNKNOWN_MOVABLE ||
-        objects[i]->type == ObjectType::UNKNOWN_UNMOVABLE) {
-      continue;
-    }
-    if (IsObjectBboxInRoi(roi, objects[i])) {
-      valid_objects->push_back(objects[i]);
-    }
-  }
-  return true;
-}
-
 }  // namespace common
 }  // namespace perception
 }  // namespace apollo
diff --git a/modules/perception/common/geometry/roi_filter.h b/modules/perception/common/geometry/roi_filter.h
index 6aa56e80e4..f381dbbde7 100644
--- a/modules/perception/common/geometry/roi_filter.h
+++ b/modules/perception/common/geometry/roi_filter.h
@@ -48,13 +48,6 @@ bool ObjectInRoiCheck(
     const std::vector<std::shared_ptr<apollo::perception::base::Object>>& objs,
     std::vector<std::shared_ptr<apollo::perception::base::Object>>* valid_objs);
 
-// @brief: whether objects' center and bbox is in ROI. If return True,
-//         you can get objects in ROI by param valid_objects.
-bool ObjectInRoiSlackCheck(
-    const std::shared_ptr<const apollo::perception::base::HdmapStruct> roi,
-    const std::vector<std::shared_ptr<apollo::perception::base::Object>>& objs,
-    std::vector<std::shared_ptr<apollo::perception::base::Object>>* valid_objs);
-
 }  // namespace common
 }  // namespace perception
 }  // namespace apollo
diff --git a/modules/perception/common/geometry/roi_filter_test.cc b/modules/perception/common/geometry/roi_filter_test.cc
index 10d5e9fbad..e2f400a81f 100644
--- a/modules/perception/common/geometry/roi_filter_test.cc
+++ b/modules/perception/common/geometry/roi_filter_test.cc
@@ -164,47 +164,6 @@ TEST(ObjectInRoiTest, test_roi) {
   EXPECT_EQ(valid_objects.size(), 0);
 }
 
-TEST(ObjectInRoiSlackTest, test_roi) {
-  HdmapStructPtr hdmap = nullptr;
-  std::vector<ObjectPtr> objects;
-  std::vector<ObjectPtr> valid_objects;
-  ObjectPtr obj(new Object);
-  obj->center = Eigen::Vector3d(0, 0, 0);
-  obj->direction = Eigen::Vector3f(1, 0, 0);
-  objects.push_back(obj);
-
-  ObjectInRoiSlackCheck(hdmap, objects, &valid_objects);
-  EXPECT_EQ(valid_objects.size(), 1);
-
-  hdmap.reset(new HdmapStruct());
-  valid_objects.clear();
-  ObjectInRoiSlackCheck(hdmap, objects, &valid_objects);
-  EXPECT_EQ(valid_objects.size(), 1);
-
-  hdmap->road_polygons.resize(1);
-  PointD pt;
-  pt.x = -1.0;
-  pt.y = -1.0;
-  pt.z = 0;
-  hdmap->road_polygons[0].push_back(pt);
-  pt.x = 1.0;
-  pt.y = -1.0;
-  pt.z = 0;
-  hdmap->road_polygons[0].push_back(pt);
-  pt.x = 0;
-  pt.y = 1;
-  pt.z = 0;
-  hdmap->road_polygons[0].push_back(pt);
-  valid_objects.clear();
-  ObjectInRoiSlackCheck(hdmap, objects, &valid_objects);
-  EXPECT_EQ(valid_objects.size(), 1);
-
-  hdmap->road_polygons[0][2].y = -2;
-  valid_objects.clear();
-  ObjectInRoiSlackCheck(hdmap, objects, &valid_objects);
-  EXPECT_EQ(valid_objects.size(), 0);
-}
-
 }  // namespace common
 }  // namespace perception
 }  // namespace apollo
-- 
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