Practice 7 - camera_traffic_light_detector - code comments

[geopimik]

Comments:

1. I would try fetching the transform and calculate_roi_images only if there are stoplines on the local path. So, I would add that check, and most of the code in the camera_image_callback could be nested under that.
2. tfl_status should be published continuously when there is path available. Currently this code publishes it only when it has rois / classes. classes should always be present when there are rois, so there is no point in having extra check: https://github.com/AnishShr/autoware_mini_practice/blob/d925e1e517a6656f8355264a1323ff155cd0e166/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L171
3. TrafficLightResultArray does not have a timestamp - it should com from the image!
4. Unnecessary https://github.com/AnishShr/autoware_mini_practice/blob/d925e1e517a6656f8355264a1323ff155cd0e166/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L160
5. Unnecessary https://github.com/AnishShr/autoware_mini_practice/blob/d925e1e517a6656f8355264a1323ff155cd0e166/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L204-L206

[AnishShr]

1. Added the check if stoplines are on path, and the rest of the code is nested inside it https://github.com/AnishShr/autoware_mini_practice/blob/a7cbcac5b73433fcb7edba7ccd85c11105b9df85/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L139

2. removed additional checks for publishing tfl status. If there are no rois or classes, empty tfl status array is published. https://github.com/AnishShr/autoware_mini_practice/blob/a7cbcac5b73433fcb7edba7ccd85c11105b9df85/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L160-L188

3. Added timestamp from camera img msg from the camera callback https://github.com/AnishShr/autoware_mini_practice/blob/a7cbcac5b73433fcb7edba7ccd85c11105b9df85/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L184-L186

4. and 5. Removed unnecessary lines

git commit: https://github.com/AnishShr/autoware_mini_practice/commit/a7cbcac5b73433fcb7edba7ccd85c11105b9df85

[geopimik]

Mostly OK, but I would still tweak it a bit.

• You have everything under this callback nested below this if: https://github.com/AnishShr/autoware_mini_practice/blob/a7cbcac5b73433fcb7edba7ccd85c11105b9df85/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L139

• stoplines_on_path is None only when there is no path (your local_path_callback), so it is almost always true.

• So if there is a local path, but there are no stoplines in it you would still try to get the transform and other things. You should only do it wen there are actual stoplines intersecting the local path.

• If you correct the previous if (only done when there are actual stop lines present) then you need to bring out of the if the roi image and traffic light status publishing.

[AnishShr]

• Modified the check for stoplines on local path https://github.com/AnishShr/autoware_mini_practice/blob/63c0bd83447cc5c7f9022c7e9c43a01918428d0a/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L150

• Brought out the publishing of roi images and traffic_light_status from this check https://github.com/AnishShr/autoware_mini_practice/blob/63c0bd83447cc5c7f9022c7e9c43a01918428d0a/practice_7/nodes/detection/tfl_camera/camera_traffic_light_detector.py#L139-L197

git commit: https://github.com/AnishShr/autoware_mini_practice/commit/63c0bd83447cc5c7f9022c7e9c43a01918428d0a

[geopimik]

ok