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[ITEP-81197] Publish to scene topics when there are no detections #591

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Merged
dpitulax merged 10 commits into from
Nov 21, 2025
Merged

[ITEP-81197] Publish to scene topics when there are no detections #591

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5785070
clear cache if no objects and publish regradless of object count
jakubsikorski Nov 17, 2025
b0b9b19
Merge branch 'release-2025.2' into empty-detections
jakubsikorski Nov 18, 2025
1a1db6d
Process tracker even if the list of objects is empty so the list gets…
jakubsikorski Nov 18, 2025
ff1ee7e
remove unnecessary list()
jakubsikorski Nov 18, 2025
5ae3725
Merge branch 'release-2025.2' into empty-detections
saratpoluri Nov 18, 2025
6fc9185
Merge branch 'release-2025.2' into empty-detections
jakubsikorski Nov 19, 2025
488f242
Merge branch 'release-2025.2' into empty-detections
saratpoluri Nov 20, 2025
ce378e6
Merge branch 'release-2025.2' into empty-detections
saratpoluri Nov 20, 2025
2f404f9
Merge branch 'release-2025.2' into empty-detections
dpitulax Nov 21, 2025
0ef9caf
Merge branch 'release-2025.2' into empty-detections
dpitulax Nov 21, 2025
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8 changes: 8 additions & 0 deletions controller/src/controller/scene_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -404,6 +404,14 @@ def handleMovingObjectMessage(self, client, userdata, message):
log.error("UNKNOWN SENDER", sender_id)
return
scene = sender

# If no detection types in the message, add empty arrays for all tracked types
# This must be done BEFORE processCameraData so the tracker processes them
if not detection_types:
detection_types = list(scene.tracker.trackers.keys())
for dtype in detection_types:
Comment on lines +411 to +412
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Copilot AI Nov 18, 2025

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The variable detection_types is reassigned from an empty list to a populated list, but this reassignment only affects the local scope. If detection_types is used elsewhere in the function after this block, the reassignment could lead to unexpected behavior. Consider using a different variable name (e.g., tracked_types) for the list of tracker keys to avoid confusion and maintain clarity about which detection types are being referenced.

Suggested change
detection_types = list(scene.tracker.trackers.keys())
for dtype in detection_types:
tracked_types = list(scene.tracker.trackers.keys())
for dtype in tracked_types:

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@jakubsikorski jakubsikorski Nov 19, 2025

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Changing it this way would be confusing. detection_types can be (line 400) a reference to the dictionary keys, not a copy. Modifying jdata (referenced keys) will also modify detection_types because it's a dictionary view.

The explicit reassignment makes this side effect visible without requiring readers to understand dictionary view semantics.

jdata['objects'][dtype] = []

success = scene.processCameraData(jdata, when=msg_when)

if not success:
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