Remove unused functions

viam-cartographer/src/carto_facade/carto_facade.cc

@@ -9,7 +9,6 @@
 #include <boost/uuid/uuid_io.hpp>
 
 #include "glog/logging.h"
-#include "io.h"
 #include "map_builder.h"
 #include "util.h"
 

viam-cartographer/src/carto_facade/map_builder.cc

@@ -11,7 +11,6 @@
 #include "cartographer/mapping/map_builder_interface.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "glog/logging.h"
-#include "io.h"
 #include "map_builder.h"
 
 namespace viam {

viam-cartographer/src/carto_facade/util_test.cc

@@ -8,7 +8,6 @@
 #include <iostream>
 #include <string>
 
-#include "io.h"
 #include "test_helpers.h"
 namespace help = viam::carto_facade::test_helpers;
 
@@ -133,32 +132,11 @@ BOOST_AUTO_TEST_CASE(carto_lidar_reading_wrong_shape_binary_failure) {
 }
 
 BOOST_AUTO_TEST_CASE(carto_lidar_reading_binary_success) {
-    // Create a mini PCD file and save it in a tmp directory
-    std::string filename = "rplidar_data_2022-01-01T01:00:00.0001Z.pcd";
     std::vector<std::vector<double>> points = {
         {-0.001000, 0.002000, 0.005000, 16711938},
         {0.582000, 0.012000, 0.000000, 16711938},
         {0.007000, 0.006000, 0.001000, 16711938}};
     std::string pcd = help::binary_pcd(points);
-    boost::filesystem::path tmp_dir = help::make_tmp_dir();
-    // Create a unique path in the temp directory and add the PCD file
-    boost::filesystem::ofstream ofs(tmp_dir / filename);
-    ofs << pcd;
-    ofs.close();
-    // Read it in and check if the data in the TimedPointCloudData is equivalent
-    // to what we had in the pcd file
-    cartographer::sensor::TimedPointCloudData timed_pcd =
-        viam::carto_facade::io::TimedPointCloudDataFromPCDBuilder(
-            tmp_dir.string() + "/" + filename, 0);
-
-    BOOST_TEST(timed_pcd.ranges.size() == points.size());
-    help::timed_pcd_contains(timed_pcd, points);
-    BOOST_TEST(timed_pcd.origin == Eigen::Vector3f::Zero());
-    BOOST_TEST(timed_pcd.time ==
-               cartographer::common::FromUniversal(16409988000001121));
-    // Remove the temporary directory and its contents
-    boost::filesystem::remove_all(tmp_dir);
-
     auto [success, timed_pcd_from_string] =
         carto_lidar_reading(pcd, 16409988000001121);
     BOOST_TEST(success);
@@ -170,32 +148,11 @@ BOOST_AUTO_TEST_CASE(carto_lidar_reading_binary_success) {
 }
 
 BOOST_AUTO_TEST_CASE(carto_lidar_reading_ascii_success) {
-    // Create a mini PCD file and save it in a tmp directory
-    std::string filename = "rplidar_data_2022-01-01T01:00:00.0001Z.pcd";
     std::vector<std::vector<double>> points = {
         {-0.001000, 0.002000, 0.005000, 16711938},
         {0.582000, 0.012000, 0.000000, 16711938},
         {0.007000, 0.006000, 0.001000, 16711938}};
     std::string pcd = help::ascii_pcd(points);
-    // Create a unique path in the temp directory and add the PCD file
-    boost::filesystem::path tmp_dir = help::make_tmp_dir();
-    boost::filesystem::ofstream ofs(tmp_dir / filename);
-    ofs << pcd;
-    ofs.close();
-    // Read it in and check if the data in the TimedPointCloudData is equivalent
-    // to what we had in the pcd file
-    cartographer::sensor::TimedPointCloudData timed_pcd =
-        viam::carto_facade::io::TimedPointCloudDataFromPCDBuilder(
-            tmp_dir.string() + "/" + filename, 0);
-
-    BOOST_TEST(timed_pcd.ranges.size() == points.size());
-    help::timed_pcd_contains(timed_pcd, points);
-    BOOST_TEST(timed_pcd.origin == Eigen::Vector3f::Zero());
-    BOOST_TEST(timed_pcd.time ==
-               cartographer::common::FromUniversal(16409988000001121));
-    // Remove the temporary directory and its contents
-    boost::filesystem::remove_all(tmp_dir);
-
     auto [success, timed_pcd_from_string] =
         carto_lidar_reading(pcd, 16409988000001121);
     BOOST_TEST(success);