Merge pull request #5 from medhat-omr/fix_detector_bgr

Fix detector bgr to rgb colors channel order

README.md

@@ -1,9 +1,9 @@
 # Udacity CarND System Integration Project
 **Team Members:**
-- Medhat Omr (Team Leader)
-- Ibrahim Almohandes
-- Dmitry Gavrilenko
-- Brian Meier
+- Medhat Omr (Team Leader) ([email protected])
+- Ibrahim Almohandes ([email protected])
+- Dmitry Gavrilenko ([email protected])
+- Brian Meier ([email protected])
 
 ### Submission checklist and requirements
 

ros/src/tl_detector/light_classification/tl_classifier.py

@@ -129,8 +129,9 @@ def get_classification(self, image):
             print "Classification time", (time1 - time0) * 1000.0, "ms"
             print "score, result", max_total_score, max_result
             print
-            #draw_bboxes(image, boxes, classes, scores,)
-            #cv2.imshow("camera", image)
+            #image_bgr = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
+            #draw_bboxes(image_bgr, boxes, classes, scores,)
+            #cv2.imshow("camera", image_bgr)
             #cv2.waitKey(1)
 
         return max_result

ros/src/tl_detector/tl_detector.py

@@ -11,7 +11,7 @@
 import tf
 import yaml
 
-RED_COUNT_THRESHOLD = 1
+RED_COUNT_THRESHOLD = 3
 YEL_COUNT_THRESHOLD = 3
 GRN_COUNT_THRESHOLD = 3
 UNK_COUNT_THRESHOLD = 50
@@ -230,7 +230,7 @@ def get_light_state(self, light):
         if self.camera_image is None:
             return TrafficLight.UNKNOWN
 
-        cv_image = self.bridge.imgmsg_to_cv2(self.camera_image, "bgr8")
+        cv_image = self.bridge.imgmsg_to_cv2(self.camera_image, "rgb8")
 
         #Get classification
         result = self.light_classifier.get_classification(cv_image)