Traffic light detection error

[juan11iguel]

For the traffic light "detected" is used to decide whether it's green or not:

dt-core/packages/led_detection/src/led_detector_node.py

Lines 400 to 411 in 7695a6b

	# Decide whether LED or not (traffic light)
	for i in range(len(BlobsTL)):
	#rospy.loginfo('[%s] Detection of the traffic light' % (self.node_name))
	# Detection
	detected, result,freq_identified, fft_peak_freq = self.detect_blob(BlobsTL[i],T,NIm,H,W,self.cropNormalizedTL,timestamps,result)
	# Take decision
	if detected:
	self.traffic_light = SignalsDetection.GO
	break
	else:
	self.traffic_light = SignalsDetection.STOP

When it should be compared to the frequencies stored in the protocol:

#changes proposed
if freq_identified == self.freqIdentify[5]:
                self.traffic_light = SignalsDetection.GO
            else:
                self.traffic_light = SignalsDetection.STOP

And in order to do that when loading the frequencies from the protocol the traffic light ones should be added:

# Get frequency to indentify
        self.freqIdentify = [self.protocol['signals']['CAR_SIGNAL_A']['frequency'],
                             self.protocol['signals']['CAR_SIGNAL_B']['frequency'],
                             self.protocol['signals']['CAR_SIGNAL_C']['frequency'],
                             self.protocol['signals']['CAR_SIGNAL_PRIORITY']['frequency'],
                             self.protocol['signals']['CAR_SIGNAL_SACRIFICE_FOR_PRIORITY']['frequency'],
			     self.protocol['signals']['traffic_light_go']['frequency'],
			     self.protocol['signals']['traffic_light_stop']['frequency']]

[AleksandarPetrov]

@surirohit @aquamin9, This might be of interest to you