Merge pull request #172 from CPFL/mod_tlr

Mod tlr

ros/src/computing/perception/detection/packages/road_wizard/nodes/region_tlr/TrafficLight.h

@@ -43,4 +43,6 @@ struct thresholdSet {
     hsvSet Green;
 };
 
+//#define SHOW_DEBUG_INFO
+
 #endif

ros/src/computing/perception/detection/packages/road_wizard/nodes/region_tlr/TrafficLightDetector.cpp

@@ -243,8 +243,10 @@ static cv::Mat signalDetect_inROI(const cv::Mat& roi,
         break;
     }
 
-  // imshow("bright_mask", bright_mask);
-  // waitKey(10);
+#ifdef SHOW_DEBUG_INFO
+  imshow("bright_mask", bright_mask);
+  cv::waitKey(10);
+#endif
 
   unsigned int candidates_num = candidates.size();
 
@@ -391,9 +393,11 @@ void TrafficLightDetector::brightnessDetect(const cv::Mat &input) {
     cv::Mat extracted_HSV;
     roi.copyTo(extracted_HSV, signalMask);
 
-    // extracted_HSV.copyTo(roi);
-    // imshow("tmpImage", tmpImage);
-    // waitKey(5);
+#ifdef SHOW_DEBUG_INFO
+    extracted_HSV.copyTo(roi);
+    imshow("tmpImage", tmpImage);
+    cv::waitKey(5);
+#endif
 
     cvtColor(extracted_HSV, extracted_HSV, CV_BGR2HSV);
 

ros/src/computing/perception/detection/packages/road_wizard/nodes/region_tlr/region_tlr.cpp

@@ -372,6 +372,11 @@ static void superimpose_cb(const std_msgs::Bool::ConstPtr& config_msg)
 int main(int argc, char* argv[]) {
 
   //	printf("***** Traffic lights app *****\n");
+#ifdef SHOW_DEBUG_INFO
+  cv::namedWindow("tmpImage", cv::WINDOW_NORMAL);
+  cv::namedWindow("bright_mask", cv::WINDOW_NORMAL);
+  cv::startWindowThread();
+#endif
 
   thSet.Red.Hue.upper = (double)DAYTIME_RED_UPPER;
   thSet.Red.Hue.lower = (double)DAYTIME_RED_LOWER;
@@ -495,6 +500,8 @@ void setContexts(TrafficLightDetector &detector,
                 ctx.yellowCenter3d = cv::Point3d( map_x, map_y, map_z );
                 ctx.signalID       = sig_iterator->signalId; // use yellow light signalID as this context's representative
                 break;
+              default:          /* this signal is not for cars (for pedestrian or something) */
+                continue;
               }
               min_radius    = (min_radius > radius) ? radius : min_radius;
               most_left     = (most_left > img_x - radius -   1.5 * min_radius)  ? img_x - radius - 1.5 * min_radius : most_left;