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fix(crosswalk_traffic_light_estimator): add operation to remove traffic signals with duplicated ids #5653

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merged 2 commits into from
Dec 8, 2023
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fix(crosswalk_traffic_light_estimator): add operation to remove traffic signals with duplicated ids #5653

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d52a128
fix: add operation to remove traffic signals with duplicated ids
ktro2828 Nov 21, 2023
11cb033
feat: move operation into `crosswalk_traffic_light_estimator`
ktro2828 Nov 24, 2023
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2 changes: 2 additions & 0 deletions ...tion/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ class CrosswalkTrafficLightEstimatorNode : public rclcpp::Node
boost::optional<uint8_t> getHighestConfidenceTrafficSignal(
const lanelet::Id & id, const TrafficLightIdMap & traffic_light_id_map) const;

void removeDuplicateIds(TrafficSignalArray & signal_array) const;

// Node param
bool use_last_detect_color_;
double last_detect_color_hold_time_;
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17 changes: 17 additions & 0 deletions perception/crosswalk_traffic_light_estimator/src/node.cpp
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@@ -1,4 +1,4 @@
// Copyright 2022-2023 UCI SORA Lab, TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 6.83 to 6.38, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -174,6 +174,8 @@
setCrosswalkTrafficSignal(crosswalk, crosswalk_tl_color, output);
}

removeDuplicateIds(output);

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updateLastDetectedSignal(traffic_light_id_map);

pub_traffic_light_array_->publish(output);
Expand Down Expand Up @@ -383,6 +385,21 @@

return ret;
}

void CrosswalkTrafficLightEstimatorNode::removeDuplicateIds(TrafficSignalArray & signal_array) const

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{
auto & signals = signal_array.signals;
std::sort(signals.begin(), signals.end(), [](const auto & s1, const auto & s2) {
return s1.traffic_signal_id < s2.traffic_signal_id;

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});

signals.erase(
std::unique(

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signals.begin(), signals.end(),
[](const auto & s1, const auto s2) { return s1.traffic_signal_id == s2.traffic_signal_id; }),

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signals.end());
}

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} // namespace traffic_light

#include <rclcpp_components/register_node_macro.hpp>
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