class TLClassifier(object):
def __init__(self):
#TODO load classifier
self.classifier = self.classifier = TrafficLightClassifier(
'./light_classification/tensor/linux_tensor0.999')
pass
def get_classification(self, image):
"""Determines the color of the traffic light in the image
Args:
image (cv::Mat): image containing the traffic light
Returns:
int: ID of traffic light color (specified in styx_msgs/TrafficLight)
"""
if self.classifier is None:
#path = os.path.abspath('./tensor/linux_tensor0.999')
#rospy.logwarn("Tensor_path {0}".format(path))
self.classifier = TrafficLightClassifier(
'./light_classification/tensor/linux_tensor0.999')
lights = (TrafficLight.RED, TrafficLight.YELLOW, TrafficLight.GREEN)
return lights[self.classifier.classifyImage(image)]
#TODO implement light color prediction
return TrafficLight.UNKNOWN
def get_classification(self, image):
"""Determines the color of the traffic light in the image
Args:
image (cv::Mat): image containing the traffic light
Returns:
int: ID of traffic light color (specified in styx_msgs/TrafficLight)
"""
if self.classifier is None:
self.classifier = TrafficLightClassifier('./light_classification/tensor/linux_tensor0.999')
lights = (TrafficLight.RED, TrafficLight.YELLOW, TrafficLight.GREEN)
return lights[self.classifier.classifyImage(image)]
return TrafficLight.UNKNOWN
def __init__(self):
#Load classifier
self.classifier = self.classifier = TrafficLightClassifier('./light_classification/tensor/linux_tensor0.999')
pass