From 69117ebe2d6d0fd14df66e06dd2bb5d74238efc3 Mon Sep 17 00:00:00 2001
From: Yuliang Guo <33yuliangguo@gmail.com>
Date: Mon, 3 Dec 2018 22:51:10 -0800
Subject: [PATCH] Perception: update a condition to output trafficlights
 (#2125)

* Solve all the related issues to make traffic light run.

Specific issues include: 1. Correct the wrong format in .dag,  parameter, and configuration files. 2. add camara parameter files which are expected from the code.
3. Correct the wrong use of Cyber::SUCC in an algorithm condition in trafficlights_perception_component.cc.

* sync with the latest lib.so name

* output single traffic light result based on voting

* modify the condition to output trafficlights result
---
 .../onboard/component/trafficlights_perception_component.cc   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/perception/onboard/component/trafficlights_perception_component.cc b/modules/perception/onboard/component/trafficlights_perception_component.cc
index 26bef39bdd..6226ab4aba 100644
--- a/modules/perception/onboard/component/trafficlights_perception_component.cc
+++ b/modules/perception/onboard/component/trafficlights_perception_component.cc
@@ -783,7 +783,7 @@ bool TrafficLightsPerceptionComponent::TransformOutputMessage(
   if (max_light_id > 0)
     std::swap(lights[0], lights[max_light_id]);
 
-  if (max_light_id > 0) {
+  if (max_light_id >= 0) {
     apollo::perception::TrafficLight *light_result =
           (*out_msg)->add_traffic_light();
     light_result->set_id(lights.at(0)->id);
@@ -968,7 +968,7 @@ void TrafficLightsPerceptionComponent::Visualize(
   }
 
   cv::resize(output_image, output_image, cv::Size(), 0.5, 0.5);
-  cv::imshow("Traffic Lihgt", output_image);
+  cv::imshow("Traffic Light", output_image);
   // cv::imwrite("/apollo/debug_vis/" +
   // std::to_string(frame.timestamp) + ".jpg", output_image);
   cvWaitKey(30);
-- 
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