From c517762ec8078b014d73ba535f8286ff85595fcc Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Thu, 26 Sep 2024 11:17:48 -0400
Subject: [PATCH 01/42] implemented string field for ObjectInWorld class to
 specify which type of real world object it is.

---
 modules/cluster_estimation/cluster_estimation.py | 8 +++++---
 modules/object_in_world.py                       | 7 +++++--
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 31675f47..78d4ca3f 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -124,7 +124,7 @@ def __init__(
 
     def run(
         self, detections: "list[detection_in_world.DetectionInWorld]", run_override: bool
-    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
+    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
         """
         Take in list of landing pad detections and return list of estimated landing pad locations
         if number of detections is sufficient, or if manually forced to run.
@@ -193,14 +193,16 @@ def run(
         # Create output list of remaining valid clusters
         detections_in_world = []
         for cluster in model_output:
-            result, landing_pad = object_in_world.ObjectInWorld.create(
+
+            result, object = object_in_world.ObjectInWorld.create(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
+                "object"
             )
 
             if result:
-                detections_in_world.append(landing_pad)
+                detections_in_world.append([object])
 
         return True, detections_in_world
 
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 1ce9f65e..bb51b391 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -12,7 +12,7 @@ class ObjectInWorld:
 
     @classmethod
     def create(
-        cls, location_x: float, location_y: float, spherical_variance: float
+        cls, location_x: float, location_y: float, spherical_variance: float, object_type: str
     ) -> "tuple[bool, ObjectInWorld | None]":
         """
         location_x, location_y: Location of the object.
@@ -21,7 +21,7 @@ def create(
         if spherical_variance < 0.0:
             return False, None
 
-        return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance)
+        return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance, object_type)
 
     def __init__(
         self,
@@ -29,6 +29,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
+        object_type: str
     ) -> None:
         """
         Private constructor, use create() method.
@@ -38,3 +39,5 @@ def __init__(
         self.location_x = location_x
         self.location_y = location_y
         self.spherical_variance = spherical_variance
+        self.object_type = object_type
+

From 3aad8c705c21b440bafa067c4123d0444e9821a5 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Thu, 26 Sep 2024 11:40:54 -0400
Subject: [PATCH 02/42] fixed mistakenly changed annotation in
 ClusterElimination.run

---
 modules/cluster_estimation/cluster_estimation.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 78d4ca3f..3f7caf3c 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -124,7 +124,7 @@ def __init__(
 
     def run(
         self, detections: "list[detection_in_world.DetectionInWorld]", run_override: bool
-    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
+    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
         """
         Take in list of landing pad detections and return list of estimated landing pad locations
         if number of detections is sufficient, or if manually forced to run.

From 2dfe21bd7b3373d7457dbfbdaa2743c684e131ae Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 03:51:38 -0400
Subject: [PATCH 03/42] fixed linters

---
 modules/object_in_world.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index bb51b391..4e9fdef0 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -40,4 +40,3 @@ def __init__(
         self.location_y = location_y
         self.spherical_variance = spherical_variance
         self.object_type = object_type
-

From b9043b0f0dedf524149da3e82740a18b0cf4c529 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:04:16 -0400
Subject: [PATCH 04/42] fixed black --check issues

---
 modules/cluster_estimation/cluster_estimation.py | 2 +-
 modules/object_in_world.py                       | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 3f7caf3c..4cfa5c6b 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -198,7 +198,7 @@ def run(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
-                "object"
+                "object",
             )
 
             if result:
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 4e9fdef0..6b783949 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -17,11 +17,14 @@ def create(
         """
         location_x, location_y: Location of the object.
         spherical_variance: Uncertainty of the location.
+        object_type: type of object in real world.
         """
         if spherical_variance < 0.0:
             return False, None
 
-        return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance, object_type)
+        return True, ObjectInWorld(
+            cls.__create_key, location_x, location_y, spherical_variance, object_type
+        )
 
     def __init__(
         self,
@@ -29,7 +32,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
-        object_type: str
+        object_type: str,
     ) -> None:
         """
         Private constructor, use create() method.

From 257710409ec88d9619685eab6c05429213737e9e Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:22:06 -0400
Subject: [PATCH 05/42] fixed pylint issues

---
 modules/cluster_estimation/cluster_estimation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 4cfa5c6b..41cfcd5c 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -194,7 +194,7 @@ def run(
         detections_in_world = []
         for cluster in model_output:
 
-            result, object = object_in_world.ObjectInWorld.create(
+            result, temp_object = object_in_world.ObjectInWorld.create(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
@@ -202,7 +202,7 @@ def run(
             )
 
             if result:
-                detections_in_world.append([object])
+                detections_in_world.append([temp_object])
 
         return True, detections_in_world
 

From 209d37243a14a1870abb55d3d57f51d662f981d0 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:29:20 -0400
Subject: [PATCH 06/42] fixed linters in test_landing_pad_tracking.py

---
 tests/unit/test_landing_pad_tracking.py | 72 ++++++++++++-------------
 1 file changed, 36 insertions(+), 36 deletions(-)

diff --git a/tests/unit/test_landing_pad_tracking.py b/tests/unit/test_landing_pad_tracking.py
index 51bfc3f7..df257660 100644
--- a/tests/unit/test_landing_pad_tracking.py
+++ b/tests/unit/test_landing_pad_tracking.py
@@ -30,23 +30,23 @@ def detections_1() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4)
+    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4, "object")
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
     assert result
     assert obj_5 is not None
 
@@ -59,23 +59,23 @@ def detections_2() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1, "object")
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3)
+    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3, "object")
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7)
+    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7, "object")
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5)
+    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5, "object")
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9)
+    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9, "object")
     assert result
     assert obj_5 is not None
 
@@ -88,23 +88,23 @@ def detections_3() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4)
+    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4, "object")
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
     assert result
     assert obj_5 is not None
 
@@ -123,11 +123,11 @@ def test_is_similar_positive_equal_to_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -145,11 +145,11 @@ def test_is_similar_negative_equal_to_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -168,11 +168,11 @@ def test_is_similar_positive_less_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -191,11 +191,11 @@ def test_is_similar_negative_less_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -214,11 +214,11 @@ def test_is_similar_positive_more_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -237,11 +237,11 @@ def test_is_similar_negative_more_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -269,7 +269,7 @@ def test_mark_false_positive_no_similar(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20)
+        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20, "object")
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -296,7 +296,7 @@ def test_mark_false_positive_with_similar(
         Test if marking false positive adds detection to list of false positives and removes.
         similar landing pads
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_2  # type: ignore
@@ -316,10 +316,10 @@ def test_mark_multiple_false_positive(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1)
+        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1, "object")
         assert false_positive_1 is not None
 
-        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
+        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
         assert false_positive_2 is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -344,7 +344,7 @@ def test_mark_confirmed_positive(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert confirmed_positive is not None
 
         expected = [confirmed_positive]
@@ -359,10 +359,10 @@ def test_mark_multiple_confirmed_positives(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert confirmed_positive_1 is not None
 
-        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
+        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
         assert confirmed_positive_2 is not None
 
         expected = [confirmed_positive_1, confirmed_positive_2]
@@ -469,7 +469,7 @@ def test_run_with_confirmed_positive(
         """
         Test run when there is a confirmed positive.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert confirmed_positive is not None
 
         tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive)  # type: ignore
@@ -488,7 +488,7 @@ def test_run_with_false_positive(
         """
         Test to see if run function doesn't add landing pads that are similar to false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert false_positive is not None
 
         tracker._LandingPadTracking__false_positives.append(false_positive)  # type: ignore

From c40ddbd62390d0c3117e1229da83f9357b790aae Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:34:41 -0400
Subject: [PATCH 07/42] fixed linter issues in test_decision.py

---
 tests/unit/test_decision.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index 9b24211b..6c694be8 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,7 +41,7 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
     assert result
     assert pad is not None
 
@@ -56,7 +56,7 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
     assert result
     assert pad is not None
 
@@ -68,15 +68,15 @@ def pads() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Create a list of ObjectInWorld instances for the landing pads.
     """
-    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0)
+    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0, "object")
     assert result
     assert pad_1 is not None
 
-    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0)
+    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0, "object")
     assert result
     assert pad_2 is not None
 
-    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0)
+    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0, "object")
     assert result
     assert pad_3 is not None
 

From 99140d90587d27245cb714abb6fd0b1b2f5d3212 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:45:28 -0400
Subject: [PATCH 08/42] fixed black --check issue with test_decision.py

---
 tests/unit/test_decision.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index 6c694be8..a18ce95a 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,7 +41,9 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
+    result, pad = object_in_world.ObjectInWorld.create(
+        location_x, location_y, spherical_variance, "object"
+    )
     assert result
     assert pad is not None
 
@@ -56,7 +58,9 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
+    result, pad = object_in_world.ObjectInWorld.create(
+        location_x, location_y, spherical_variance, "object"
+    )
     assert result
     assert pad is not None
 

From 4b1424d0eced9c1289ce7b906861f2410e2736dc Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 12:22:36 -0400
Subject: [PATCH 09/42] fixed test_cluster_detection failed test case

---
 modules/cluster_estimation/cluster_estimation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 41cfcd5c..22fa8629 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -124,7 +124,7 @@ def __init__(
 
     def run(
         self, detections: "list[detection_in_world.DetectionInWorld]", run_override: bool
-    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
+    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
         """
         Take in list of landing pad detections and return list of estimated landing pad locations
         if number of detections is sufficient, or if manually forced to run.
@@ -202,7 +202,7 @@ def run(
             )
 
             if result:
-                detections_in_world.append([temp_object])
+                detections_in_world.append(temp_object)
 
         return True, detections_in_world
 

From 676bcd1ee1b5b52379f6f10410be7cc8b5eade49 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Mon, 30 Sep 2024 17:31:57 -0400
Subject: [PATCH 10/42] changed object_type: string to label: int, also made it
 keyword parameter with default 0

---
 .../cluster_estimation/cluster_estimation.py  |  1 -
 modules/object_in_world.py                    | 10 +--
 tests/unit/test_decision.py                   | 14 ++--
 tests/unit/test_landing_pad_tracking.py       | 72 +++++++++----------
 4 files changed, 46 insertions(+), 51 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 22fa8629..1e8c8d89 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -198,7 +198,6 @@ def run(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
-                "object",
             )
 
             if result:
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 6b783949..a8310b11 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -12,18 +12,18 @@ class ObjectInWorld:
 
     @classmethod
     def create(
-        cls, location_x: float, location_y: float, spherical_variance: float, object_type: str
+        cls, location_x: float, location_y: float, spherical_variance: float, label=0
     ) -> "tuple[bool, ObjectInWorld | None]":
         """
         location_x, location_y: Location of the object.
         spherical_variance: Uncertainty of the location.
-        object_type: type of object in real world.
+        label: type of object in real world.
         """
         if spherical_variance < 0.0:
             return False, None
 
         return True, ObjectInWorld(
-            cls.__create_key, location_x, location_y, spherical_variance, object_type
+            cls.__create_key, location_x, location_y, spherical_variance, label
         )
 
     def __init__(
@@ -32,7 +32,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
-        object_type: str,
+        label=0,
     ) -> None:
         """
         Private constructor, use create() method.
@@ -42,4 +42,4 @@ def __init__(
         self.location_x = location_x
         self.location_y = location_y
         self.spherical_variance = spherical_variance
-        self.object_type = object_type
+        self.label = label
diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index a18ce95a..9b24211b 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,9 +41,7 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(
-        location_x, location_y, spherical_variance, "object"
-    )
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
     assert result
     assert pad is not None
 
@@ -58,9 +56,7 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(
-        location_x, location_y, spherical_variance, "object"
-    )
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
     assert result
     assert pad is not None
 
@@ -72,15 +68,15 @@ def pads() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Create a list of ObjectInWorld instances for the landing pads.
     """
-    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0, "object")
+    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0)
     assert result
     assert pad_1 is not None
 
-    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0, "object")
+    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0)
     assert result
     assert pad_2 is not None
 
-    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0, "object")
+    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0)
     assert result
     assert pad_3 is not None
 
diff --git a/tests/unit/test_landing_pad_tracking.py b/tests/unit/test_landing_pad_tracking.py
index df257660..51bfc3f7 100644
--- a/tests/unit/test_landing_pad_tracking.py
+++ b/tests/unit/test_landing_pad_tracking.py
@@ -30,23 +30,23 @@ def detections_1() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4, "object")
+    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
     assert result
     assert obj_5 is not None
 
@@ -59,23 +59,23 @@ def detections_2() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1, "object")
+    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3, "object")
+    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7, "object")
+    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5, "object")
+    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9, "object")
+    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9)
     assert result
     assert obj_5 is not None
 
@@ -88,23 +88,23 @@ def detections_3() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4, "object")
+    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
     assert result
     assert obj_5 is not None
 
@@ -123,11 +123,11 @@ def test_is_similar_positive_equal_to_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0)
         assert result
         assert obj_2 is not None
 
@@ -145,11 +145,11 @@ def test_is_similar_negative_equal_to_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0)
         assert result
         assert obj_2 is not None
 
@@ -168,11 +168,11 @@ def test_is_similar_positive_less_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0)
         assert result
         assert obj_2 is not None
 
@@ -191,11 +191,11 @@ def test_is_similar_negative_less_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0)
         assert result
         assert obj_2 is not None
 
@@ -214,11 +214,11 @@ def test_is_similar_positive_more_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0)
         assert result
         assert obj_2 is not None
 
@@ -237,11 +237,11 @@ def test_is_similar_negative_more_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0)
         assert result
         assert obj_2 is not None
 
@@ -269,7 +269,7 @@ def test_mark_false_positive_no_similar(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20, "object")
+        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20)
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -296,7 +296,7 @@ def test_mark_false_positive_with_similar(
         Test if marking false positive adds detection to list of false positives and removes.
         similar landing pads
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_2  # type: ignore
@@ -316,10 +316,10 @@ def test_mark_multiple_false_positive(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1, "object")
+        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1)
         assert false_positive_1 is not None
 
-        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
+        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
         assert false_positive_2 is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -344,7 +344,7 @@ def test_mark_confirmed_positive(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert confirmed_positive is not None
 
         expected = [confirmed_positive]
@@ -359,10 +359,10 @@ def test_mark_multiple_confirmed_positives(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert confirmed_positive_1 is not None
 
-        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
+        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
         assert confirmed_positive_2 is not None
 
         expected = [confirmed_positive_1, confirmed_positive_2]
@@ -469,7 +469,7 @@ def test_run_with_confirmed_positive(
         """
         Test run when there is a confirmed positive.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert confirmed_positive is not None
 
         tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive)  # type: ignore
@@ -488,7 +488,7 @@ def test_run_with_false_positive(
         """
         Test to see if run function doesn't add landing pads that are similar to false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert false_positive is not None
 
         tracker._LandingPadTracking__false_positives.append(false_positive)  # type: ignore

From 647f73a52180bdf01a8276446ccb31e8c8b5d5a2 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Mon, 30 Sep 2024 17:51:53 -0400
Subject: [PATCH 11/42] went back to old version of main

---
 main_2024.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/main_2024.py b/main_2024.py
index fe76a1da..f7382369 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -137,6 +137,10 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
+    flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
 
     result, camera_intrinsics = camera_properties.CameraIntrinsics.create(
         GEOLOCATION_RESOLUTION_X,
@@ -216,7 +220,7 @@ def main() -> int:
             FLIGHT_INTERFACE_BAUD_RATE,
             FLIGHT_INTERFACE_WORKER_PERIOD,
         ),
-        input_queues=[],
+        input_queues=[flight_interface_decision_queue],
         output_queues=[flight_interface_to_data_merge_queue],
         controller=controller,
         local_logger=main_logger,
@@ -376,6 +380,7 @@ def main() -> int:
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
     geolocation_to_main_queue.fill_and_drain_queue()
+    flight_interface_decision_queue.fill_and_drain_queue()
 
     for manager in worker_managers:
         manager.join_workers()

From 360a6cebb572bf8b0e2ab0590693062812df9b3a Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Tue, 1 Oct 2024 21:50:24 -0400
Subject: [PATCH 12/42] initial commit for branch, work in progress

---
 config.yaml  |  6 ++++++
 main_2024.py | 58 +++++++++++++++++++++++++++++++++++++++++++++++-----
 2 files changed, 59 insertions(+), 5 deletions(-)

diff --git a/config.yaml b/config.yaml
index c941f53a..7d5b7050 100644
--- a/config.yaml
+++ b/config.yaml
@@ -33,3 +33,9 @@ geolocation:
     camera_orientation_yaw: 0.0
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
+
+# default values set
+cluster_merge:
+    min_activation_threshold: 0
+    min_new_points_to_run: 0
+    random_state: 0
diff --git a/main_2024.py b/main_2024.py
index f7382369..7265d1e8 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -18,6 +18,7 @@
 from modules.data_merge import data_merge_worker
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
+from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.logger.modules import logger
 from modules.common.logger.modules import logger_setup_main
 from modules.common.logger.read_yaml.modules import read_yaml
@@ -108,6 +109,10 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_YAW = config["geolocation"]["camera_orientation_yaw"]
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
+
+        MIN_ACTIVATION_THRESHOLD = config
+        MIN_NEW_POINTS_TO_RUN = config
+        RANDOM_STATE = config
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"ERROR: Config key(s) not found: {exception}", True)
@@ -133,11 +138,15 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    geolocation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
+    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
@@ -259,7 +268,7 @@ def main() -> int:
             camera_extrinsics,
         ),
         input_queues=[data_merge_to_geolocation_queue],
-        output_queues=[geolocation_to_main_queue],
+        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -270,6 +279,22 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert geolocation_worker_properties is not None
 
+    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
+        count=1,
+        target=cluster_estimation_worker.cluster_estimation_worker,
+        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
+        input_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[cluster_estimation_to_main_queue],
+        controller=controller,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create arguments for Video Input", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_worker_properties is not None
+
     # Create managers
     worker_managers = []
 
@@ -338,6 +363,19 @@ def main() -> int:
 
     worker_managers.append(geolocation_manager)
 
+    result, cluster_estimation_manager = worker_manager.WorkerManager.create(
+        worker_properties=cluster_estimation_worker_properties,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create manager for Flight Interface", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_manager is not None
+
+    worker_managers.append(cluster_estimation_manager)
+
     # Run
     for manager in worker_managers:
         manager.start_workers()
@@ -350,7 +388,7 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_main_queue.queue.get_nowait()
+            geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
         except queue.Empty:
             geolocation_data = None
 
@@ -368,6 +406,16 @@ def main() -> int:
                     "geolocation confidence: " + str(detection_world.confidence), True
                 )
 
+        try:
+            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
+        except queue.Empty:
+            cluster_estimations = None
+        if cluster_estimations is not None:
+            for cluster in cluster_estimations:
+                main_logger.debug("Cluser in world: ", True)
+                main_logger.debug("Cluster location x: " + str(cluster.location_x))
+                main_logger.debug("Cluster location y: "+str(cluster.location_y))
+                main_logger.debug("Cluster spherical variance: "+str(cluster.spherical_variance))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
@@ -379,7 +427,7 @@ def main() -> int:
     detect_target_to_data_merge_queue.fill_and_drain_queue()
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
-    geolocation_to_main_queue.fill_and_drain_queue()
+    geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
 
     for manager in worker_managers:

From eff583134501bfcb0c86a89b7769d1aa02d8482f Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Thu, 26 Sep 2024 11:17:48 -0400
Subject: [PATCH 13/42] implemented string field for ObjectInWorld class to
 specify which type of real world object it is.

---
 modules/cluster_estimation/cluster_estimation.py | 8 +++++---
 modules/object_in_world.py                       | 7 +++++--
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 31675f47..78d4ca3f 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -124,7 +124,7 @@ def __init__(
 
     def run(
         self, detections: "list[detection_in_world.DetectionInWorld]", run_override: bool
-    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
+    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
         """
         Take in list of landing pad detections and return list of estimated landing pad locations
         if number of detections is sufficient, or if manually forced to run.
@@ -193,14 +193,16 @@ def run(
         # Create output list of remaining valid clusters
         detections_in_world = []
         for cluster in model_output:
-            result, landing_pad = object_in_world.ObjectInWorld.create(
+
+            result, object = object_in_world.ObjectInWorld.create(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
+                "object"
             )
 
             if result:
-                detections_in_world.append(landing_pad)
+                detections_in_world.append([object])
 
         return True, detections_in_world
 
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 1ce9f65e..bb51b391 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -12,7 +12,7 @@ class ObjectInWorld:
 
     @classmethod
     def create(
-        cls, location_x: float, location_y: float, spherical_variance: float
+        cls, location_x: float, location_y: float, spherical_variance: float, object_type: str
     ) -> "tuple[bool, ObjectInWorld | None]":
         """
         location_x, location_y: Location of the object.
@@ -21,7 +21,7 @@ def create(
         if spherical_variance < 0.0:
             return False, None
 
-        return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance)
+        return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance, object_type)
 
     def __init__(
         self,
@@ -29,6 +29,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
+        object_type: str
     ) -> None:
         """
         Private constructor, use create() method.
@@ -38,3 +39,5 @@ def __init__(
         self.location_x = location_x
         self.location_y = location_y
         self.spherical_variance = spherical_variance
+        self.object_type = object_type
+

From 451e0e5ff072d3bd2d73c7bea517bc1176cbfe19 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Thu, 26 Sep 2024 11:40:54 -0400
Subject: [PATCH 14/42] fixed mistakenly changed annotation in
 ClusterElimination.run

---
 modules/cluster_estimation/cluster_estimation.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 78d4ca3f..3f7caf3c 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -124,7 +124,7 @@ def __init__(
 
     def run(
         self, detections: "list[detection_in_world.DetectionInWorld]", run_override: bool
-    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
+    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
         """
         Take in list of landing pad detections and return list of estimated landing pad locations
         if number of detections is sufficient, or if manually forced to run.

From c4f3cb9fc4b75e3a0a7fccb10600622f33e0b51b Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 03:51:38 -0400
Subject: [PATCH 15/42] fixed linters

---
 modules/object_in_world.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index bb51b391..4e9fdef0 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -40,4 +40,3 @@ def __init__(
         self.location_y = location_y
         self.spherical_variance = spherical_variance
         self.object_type = object_type
-

From bc2c6f643ad998b7bbd45740276bb910f99acfae Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:04:16 -0400
Subject: [PATCH 16/42] fixed black --check issues

---
 modules/cluster_estimation/cluster_estimation.py | 2 +-
 modules/object_in_world.py                       | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 3f7caf3c..4cfa5c6b 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -198,7 +198,7 @@ def run(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
-                "object"
+                "object",
             )
 
             if result:
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 4e9fdef0..6b783949 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -17,11 +17,14 @@ def create(
         """
         location_x, location_y: Location of the object.
         spherical_variance: Uncertainty of the location.
+        object_type: type of object in real world.
         """
         if spherical_variance < 0.0:
             return False, None
 
-        return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance, object_type)
+        return True, ObjectInWorld(
+            cls.__create_key, location_x, location_y, spherical_variance, object_type
+        )
 
     def __init__(
         self,
@@ -29,7 +32,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
-        object_type: str
+        object_type: str,
     ) -> None:
         """
         Private constructor, use create() method.

From cf55400b8c30f66417a8b84c92c04d5b00bec4ca Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:22:06 -0400
Subject: [PATCH 17/42] fixed pylint issues

---
 modules/cluster_estimation/cluster_estimation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 4cfa5c6b..41cfcd5c 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -194,7 +194,7 @@ def run(
         detections_in_world = []
         for cluster in model_output:
 
-            result, object = object_in_world.ObjectInWorld.create(
+            result, temp_object = object_in_world.ObjectInWorld.create(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
@@ -202,7 +202,7 @@ def run(
             )
 
             if result:
-                detections_in_world.append([object])
+                detections_in_world.append([temp_object])
 
         return True, detections_in_world
 

From 7dd1e9f269595c79457492d64f4e723c858f2ce1 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:29:20 -0400
Subject: [PATCH 18/42] fixed linters in test_landing_pad_tracking.py

---
 tests/unit/test_landing_pad_tracking.py | 72 ++++++++++++-------------
 1 file changed, 36 insertions(+), 36 deletions(-)

diff --git a/tests/unit/test_landing_pad_tracking.py b/tests/unit/test_landing_pad_tracking.py
index 51bfc3f7..df257660 100644
--- a/tests/unit/test_landing_pad_tracking.py
+++ b/tests/unit/test_landing_pad_tracking.py
@@ -30,23 +30,23 @@ def detections_1() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4)
+    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4, "object")
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
     assert result
     assert obj_5 is not None
 
@@ -59,23 +59,23 @@ def detections_2() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1, "object")
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3)
+    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3, "object")
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7)
+    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7, "object")
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5)
+    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5, "object")
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9)
+    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9, "object")
     assert result
     assert obj_5 is not None
 
@@ -88,23 +88,23 @@ def detections_3() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4)
+    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4, "object")
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
     assert result
     assert obj_5 is not None
 
@@ -123,11 +123,11 @@ def test_is_similar_positive_equal_to_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -145,11 +145,11 @@ def test_is_similar_negative_equal_to_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -168,11 +168,11 @@ def test_is_similar_positive_less_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -191,11 +191,11 @@ def test_is_similar_negative_less_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -214,11 +214,11 @@ def test_is_similar_positive_more_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -237,11 +237,11 @@ def test_is_similar_negative_more_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0, "object")
         assert result
         assert obj_2 is not None
 
@@ -269,7 +269,7 @@ def test_mark_false_positive_no_similar(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20)
+        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20, "object")
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -296,7 +296,7 @@ def test_mark_false_positive_with_similar(
         Test if marking false positive adds detection to list of false positives and removes.
         similar landing pads
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_2  # type: ignore
@@ -316,10 +316,10 @@ def test_mark_multiple_false_positive(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1)
+        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1, "object")
         assert false_positive_1 is not None
 
-        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
+        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
         assert false_positive_2 is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -344,7 +344,7 @@ def test_mark_confirmed_positive(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert confirmed_positive is not None
 
         expected = [confirmed_positive]
@@ -359,10 +359,10 @@ def test_mark_multiple_confirmed_positives(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert confirmed_positive_1 is not None
 
-        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
+        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
         assert confirmed_positive_2 is not None
 
         expected = [confirmed_positive_1, confirmed_positive_2]
@@ -469,7 +469,7 @@ def test_run_with_confirmed_positive(
         """
         Test run when there is a confirmed positive.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert confirmed_positive is not None
 
         tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive)  # type: ignore
@@ -488,7 +488,7 @@ def test_run_with_false_positive(
         """
         Test to see if run function doesn't add landing pads that are similar to false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
         assert false_positive is not None
 
         tracker._LandingPadTracking__false_positives.append(false_positive)  # type: ignore

From a5da749ee2c34a1b150fe7ec5ab407e77358fbad Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:34:41 -0400
Subject: [PATCH 19/42] fixed linter issues in test_decision.py

---
 tests/unit/test_decision.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index 9b24211b..6c694be8 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,7 +41,7 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
     assert result
     assert pad is not None
 
@@ -56,7 +56,7 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
     assert result
     assert pad is not None
 
@@ -68,15 +68,15 @@ def pads() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Create a list of ObjectInWorld instances for the landing pads.
     """
-    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0)
+    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0, "object")
     assert result
     assert pad_1 is not None
 
-    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0)
+    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0, "object")
     assert result
     assert pad_2 is not None
 
-    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0)
+    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0, "object")
     assert result
     assert pad_3 is not None
 

From 96618fbc1a25c28b8984cfd7e183ba9f2273ab08 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 11:45:28 -0400
Subject: [PATCH 20/42] fixed black --check issue with test_decision.py

---
 tests/unit/test_decision.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index 6c694be8..a18ce95a 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,7 +41,9 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
+    result, pad = object_in_world.ObjectInWorld.create(
+        location_x, location_y, spherical_variance, "object"
+    )
     assert result
     assert pad is not None
 
@@ -56,7 +58,9 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, "object")
+    result, pad = object_in_world.ObjectInWorld.create(
+        location_x, location_y, spherical_variance, "object"
+    )
     assert result
     assert pad is not None
 

From b3f068d00aaf6331f4750f6ed0de25cc61a81f91 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 27 Sep 2024 12:22:36 -0400
Subject: [PATCH 21/42] fixed test_cluster_detection failed test case

---
 modules/cluster_estimation/cluster_estimation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 41cfcd5c..22fa8629 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -124,7 +124,7 @@ def __init__(
 
     def run(
         self, detections: "list[detection_in_world.DetectionInWorld]", run_override: bool
-    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
+    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
         """
         Take in list of landing pad detections and return list of estimated landing pad locations
         if number of detections is sufficient, or if manually forced to run.
@@ -202,7 +202,7 @@ def run(
             )
 
             if result:
-                detections_in_world.append([temp_object])
+                detections_in_world.append(temp_object)
 
         return True, detections_in_world
 

From 0916b10a633ef507304a4151d7527b283b560552 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Mon, 30 Sep 2024 17:31:57 -0400
Subject: [PATCH 22/42] changed object_type: string to label: int, also made it
 keyword parameter with default 0

---
 .../cluster_estimation/cluster_estimation.py  |  1 -
 modules/object_in_world.py                    | 10 +--
 tests/unit/test_decision.py                   | 14 ++--
 tests/unit/test_landing_pad_tracking.py       | 72 +++++++++----------
 4 files changed, 46 insertions(+), 51 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 22fa8629..1e8c8d89 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -198,7 +198,6 @@ def run(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
-                "object",
             )
 
             if result:
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 6b783949..a8310b11 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -12,18 +12,18 @@ class ObjectInWorld:
 
     @classmethod
     def create(
-        cls, location_x: float, location_y: float, spherical_variance: float, object_type: str
+        cls, location_x: float, location_y: float, spherical_variance: float, label=0
     ) -> "tuple[bool, ObjectInWorld | None]":
         """
         location_x, location_y: Location of the object.
         spherical_variance: Uncertainty of the location.
-        object_type: type of object in real world.
+        label: type of object in real world.
         """
         if spherical_variance < 0.0:
             return False, None
 
         return True, ObjectInWorld(
-            cls.__create_key, location_x, location_y, spherical_variance, object_type
+            cls.__create_key, location_x, location_y, spherical_variance, label
         )
 
     def __init__(
@@ -32,7 +32,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
-        object_type: str,
+        label=0,
     ) -> None:
         """
         Private constructor, use create() method.
@@ -42,4 +42,4 @@ def __init__(
         self.location_x = location_x
         self.location_y = location_y
         self.spherical_variance = spherical_variance
-        self.object_type = object_type
+        self.label = label
diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index a18ce95a..9b24211b 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,9 +41,7 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(
-        location_x, location_y, spherical_variance, "object"
-    )
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
     assert result
     assert pad is not None
 
@@ -58,9 +56,7 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(
-        location_x, location_y, spherical_variance, "object"
-    )
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
     assert result
     assert pad is not None
 
@@ -72,15 +68,15 @@ def pads() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Create a list of ObjectInWorld instances for the landing pads.
     """
-    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0, "object")
+    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0)
     assert result
     assert pad_1 is not None
 
-    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0, "object")
+    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0)
     assert result
     assert pad_2 is not None
 
-    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0, "object")
+    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0)
     assert result
     assert pad_3 is not None
 
diff --git a/tests/unit/test_landing_pad_tracking.py b/tests/unit/test_landing_pad_tracking.py
index df257660..51bfc3f7 100644
--- a/tests/unit/test_landing_pad_tracking.py
+++ b/tests/unit/test_landing_pad_tracking.py
@@ -30,23 +30,23 @@ def detections_1() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4, "object")
+    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
     assert result
     assert obj_5 is not None
 
@@ -59,23 +59,23 @@ def detections_2() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1, "object")
+    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3, "object")
+    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7, "object")
+    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5, "object")
+    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9, "object")
+    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9)
     assert result
     assert obj_5 is not None
 
@@ -88,23 +88,23 @@ def detections_3() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, "object")
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4, "object")
+    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, "object")
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, "object")
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, "object")
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
     assert result
     assert obj_5 is not None
 
@@ -123,11 +123,11 @@ def test_is_similar_positive_equal_to_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0)
         assert result
         assert obj_2 is not None
 
@@ -145,11 +145,11 @@ def test_is_similar_negative_equal_to_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0)
         assert result
         assert obj_2 is not None
 
@@ -168,11 +168,11 @@ def test_is_similar_positive_less_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0)
         assert result
         assert obj_2 is not None
 
@@ -191,11 +191,11 @@ def test_is_similar_negative_less_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0)
         assert result
         assert obj_2 is not None
 
@@ -214,11 +214,11 @@ def test_is_similar_positive_more_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0)
         assert result
         assert obj_2 is not None
 
@@ -237,11 +237,11 @@ def test_is_similar_negative_more_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, "object")
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0, "object")
+        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0)
         assert result
         assert obj_2 is not None
 
@@ -269,7 +269,7 @@ def test_mark_false_positive_no_similar(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20, "object")
+        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20)
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -296,7 +296,7 @@ def test_mark_false_positive_with_similar(
         Test if marking false positive adds detection to list of false positives and removes.
         similar landing pads
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_2  # type: ignore
@@ -316,10 +316,10 @@ def test_mark_multiple_false_positive(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1, "object")
+        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1)
         assert false_positive_1 is not None
 
-        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
+        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
         assert false_positive_2 is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -344,7 +344,7 @@ def test_mark_confirmed_positive(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert confirmed_positive is not None
 
         expected = [confirmed_positive]
@@ -359,10 +359,10 @@ def test_mark_multiple_confirmed_positives(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert confirmed_positive_1 is not None
 
-        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, "object")
+        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
         assert confirmed_positive_2 is not None
 
         expected = [confirmed_positive_1, confirmed_positive_2]
@@ -469,7 +469,7 @@ def test_run_with_confirmed_positive(
         """
         Test run when there is a confirmed positive.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert confirmed_positive is not None
 
         tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive)  # type: ignore
@@ -488,7 +488,7 @@ def test_run_with_false_positive(
         """
         Test to see if run function doesn't add landing pads that are similar to false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, "object")
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
         assert false_positive is not None
 
         tracker._LandingPadTracking__false_positives.append(false_positive)  # type: ignore

From 652e1dacce9944509a636b0a029abb02c6a9d664 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Tue, 1 Oct 2024 21:50:24 -0400
Subject: [PATCH 23/42] initial commit for branch, work in progress

---
 config.yaml  |  6 ++++++
 main_2024.py | 58 +++++++++++++++++++++++++++++++++++++++++++++++-----
 2 files changed, 59 insertions(+), 5 deletions(-)

diff --git a/config.yaml b/config.yaml
index b0dd9811..e9ee958b 100644
--- a/config.yaml
+++ b/config.yaml
@@ -34,3 +34,9 @@ geolocation:
     camera_orientation_yaw: 0.0
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
+
+# default values set
+cluster_merge:
+    min_activation_threshold: 0
+    min_new_points_to_run: 0
+    random_state: 0
diff --git a/main_2024.py b/main_2024.py
index 66ad913d..5756b870 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -19,6 +19,7 @@
 from modules.data_merge import data_merge_worker
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
+from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.logger.modules import logger
 from modules.common.logger.modules import logger_setup_main
 from modules.common.logger.read_yaml.modules import read_yaml
@@ -111,6 +112,10 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_YAW = config["geolocation"]["camera_orientation_yaw"]
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
+
+        MIN_ACTIVATION_THRESHOLD = config
+        MIN_NEW_POINTS_TO_RUN = config
+        RANDOM_STATE = config
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -139,11 +144,15 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    geolocation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
+    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
@@ -266,7 +275,7 @@ def main() -> int:
             camera_extrinsics,
         ),
         input_queues=[data_merge_to_geolocation_queue],
-        output_queues=[geolocation_to_main_queue],
+        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -277,6 +286,22 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert geolocation_worker_properties is not None
 
+    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
+        count=1,
+        target=cluster_estimation_worker.cluster_estimation_worker,
+        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
+        input_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[cluster_estimation_to_main_queue],
+        controller=controller,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create arguments for Video Input", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_worker_properties is not None
+
     # Create managers
     worker_managers = []
 
@@ -345,6 +370,19 @@ def main() -> int:
 
     worker_managers.append(geolocation_manager)
 
+    result, cluster_estimation_manager = worker_manager.WorkerManager.create(
+        worker_properties=cluster_estimation_worker_properties,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create manager for Flight Interface", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_manager is not None
+
+    worker_managers.append(cluster_estimation_manager)
+
     # Run
     for manager in worker_managers:
         manager.start_workers()
@@ -357,7 +395,7 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_main_queue.queue.get_nowait()
+            geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
         except queue.Empty:
             geolocation_data = None
 
@@ -375,6 +413,16 @@ def main() -> int:
                     "geolocation confidence: " + str(detection_world.confidence), True
                 )
 
+        try:
+            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
+        except queue.Empty:
+            cluster_estimations = None
+        if cluster_estimations is not None:
+            for cluster in cluster_estimations:
+                main_logger.debug("Cluser in world: ", True)
+                main_logger.debug("Cluster location x: " + str(cluster.location_x))
+                main_logger.debug("Cluster location y: "+str(cluster.location_y))
+                main_logger.debug("Cluster spherical variance: "+str(cluster.spherical_variance))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
@@ -386,7 +434,7 @@ def main() -> int:
     detect_target_to_data_merge_queue.fill_and_drain_queue()
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
-    geolocation_to_main_queue.fill_and_drain_queue()
+    geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
 
     for manager in worker_managers:

From 7476ddbdf239a7cd5abc744b691aebc884ab31a8 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 15:48:30 -0400
Subject: [PATCH 24/42] used black --preview to reformat the code

---
 main_2024.py                                     | 16 ++++++++--------
 modules/cluster_estimation/cluster_estimation.py |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/main_2024.py b/main_2024.py
index 5756b870..85aae8ab 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -86,8 +86,8 @@ def main() -> int:
         VIDEO_INPUT_SAVE_PREFIX = str(pathlib.Path(logging_path, VIDEO_INPUT_SAVE_NAME_PREFIX))
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
-        detect_target_option_int = config["detect_target"]["option"]
-        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(detect_target_option_int)
+        DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
+        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
         DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
@@ -113,9 +113,9 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
 
-        MIN_ACTIVATION_THRESHOLD = config
-        MIN_NEW_POINTS_TO_RUN = config
-        RANDOM_STATE = config
+        MIN_ACTIVATION_THRESHOLD = config["cluster_merge"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_merge"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_merge"]["random_state"]
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -419,10 +419,10 @@ def main() -> int:
             cluster_estimations = None
         if cluster_estimations is not None:
             for cluster in cluster_estimations:
-                main_logger.debug("Cluser in world: ", True)
+                main_logger.debug("Cluser in world: True")
                 main_logger.debug("Cluster location x: " + str(cluster.location_x))
-                main_logger.debug("Cluster location y: "+str(cluster.location_y))
-                main_logger.debug("Cluster spherical variance: "+str(cluster.spherical_variance))
+                main_logger.debug("Cluster location y: " + str(cluster.location_y))
+                main_logger.debug("Cluster spherical variance: " + str(cluster.spherical_variance))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index 1e8c8d89..e8039f8d 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -1,6 +1,6 @@
 """
 Take in bounding box coordinates from Geolocation and use to estimate landing pad locations.
-Returns an array of classes, each containing the x coordinate, y coordinate, and spherical 
+Returns an array of classes, each containing the x coordinate, y coordinate, and spherical
 covariance of each landing pad estimation.
 """
 

From bc65465528598b6bc383f46fc85dd119070450da Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 16:01:08 -0400
Subject: [PATCH 25/42] ran black . to reformat

---
 main_2024.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/main_2024.py b/main_2024.py
index 298d1908..5580fcae 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -153,7 +153,6 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
     flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,

From 4b6abb68149a3edb5fd88ca722dc5ece0807c406 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 16:05:22 -0400
Subject: [PATCH 26/42] changed label annotation

---
 modules/object_in_world.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index a8310b11..2b6f7ef0 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -12,7 +12,7 @@ class ObjectInWorld:
 
     @classmethod
     def create(
-        cls, location_x: float, location_y: float, spherical_variance: float, label=0
+        cls, location_x: float, location_y: float, spherical_variance: float, label: int
     ) -> "tuple[bool, ObjectInWorld | None]":
         """
         location_x, location_y: Location of the object.
@@ -23,7 +23,7 @@ def create(
             return False, None
 
         return True, ObjectInWorld(
-            cls.__create_key, location_x, location_y, spherical_variance, label
+            cls.__create_key, location_x, location_y, spherical_variance, label: int
         )
 
     def __init__(
@@ -32,7 +32,7 @@ def __init__(
         location_x: float,
         location_y: float,
         spherical_variance: float,
-        label=0,
+        label: int,
     ) -> None:
         """
         Private constructor, use create() method.

From 808c4a2f2cff00aabd0ef0e354d983d07d068c3d Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 16:07:37 -0400
Subject: [PATCH 27/42] syntax error

---
 modules/object_in_world.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 2b6f7ef0..0dc413c6 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -23,7 +23,7 @@ def create(
             return False, None
 
         return True, ObjectInWorld(
-            cls.__create_key, location_x, location_y, spherical_variance, label: int
+            cls.__create_key, location_x, location_y, spherical_variance, label
         )
 
     def __init__(

From a58c56a66f4858f6ae30a2ce4fb9a4e70a2d6ef9 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 18:54:31 -0400
Subject: [PATCH 28/42] added values back for label

---
 main_2024.py                                  |  1 -
 .../cluster_estimation/cluster_estimation.py  |  1 +
 tests/unit/test_decision.py                   | 10 +--
 tests/unit/test_landing_pad_tracking.py       | 72 +++++++++----------
 4 files changed, 42 insertions(+), 42 deletions(-)

diff --git a/main_2024.py b/main_2024.py
index 5580fcae..6756232c 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -20,7 +20,6 @@
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
 from modules.cluster_estimation import cluster_estimation_worker
-from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.logger.modules import logger
 from modules.common.logger.modules import logger_setup_main
 from modules.common.logger.read_yaml.modules import read_yaml
diff --git a/modules/cluster_estimation/cluster_estimation.py b/modules/cluster_estimation/cluster_estimation.py
index e8039f8d..2bc5d58f 100644
--- a/modules/cluster_estimation/cluster_estimation.py
+++ b/modules/cluster_estimation/cluster_estimation.py
@@ -198,6 +198,7 @@ def run(
                 cluster[0][0],
                 cluster[0][1],
                 cluster[2],
+                0,
             )
 
             if result:
diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index 9b24211b..e073d6ee 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,7 +41,7 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, 0)
     assert result
     assert pad is not None
 
@@ -56,7 +56,7 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
+    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, 0)
     assert result
     assert pad is not None
 
@@ -68,15 +68,15 @@ def pads() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Create a list of ObjectInWorld instances for the landing pads.
     """
-    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0)
+    result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0, 0)
     assert result
     assert pad_1 is not None
 
-    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0)
+    result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0, 0)
     assert result
     assert pad_2 is not None
 
-    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0)
+    result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0, 0)
     assert result
     assert pad_3 is not None
 
diff --git a/tests/unit/test_landing_pad_tracking.py b/tests/unit/test_landing_pad_tracking.py
index 51bfc3f7..2105c84a 100644
--- a/tests/unit/test_landing_pad_tracking.py
+++ b/tests/unit/test_landing_pad_tracking.py
@@ -30,23 +30,23 @@ def detections_1() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, 0)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4)
+    result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4, 0)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, 0)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, 0)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, 0)
     assert result
     assert obj_5 is not None
 
@@ -59,23 +59,23 @@ def detections_2() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1, 0)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3)
+    result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3, 0)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7)
+    result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7, 0)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5)
+    result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5, 0)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9)
+    result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9, 0)
     assert result
     assert obj_5 is not None
 
@@ -88,23 +88,23 @@ def detections_3() -> "list[object_in_world.ObjectInWorld]":  # type: ignore
     """
     Sample instances of ObjectInWorld for testing.
     """
-    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
+    result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, 0)
     assert result
     assert obj_1 is not None
 
-    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4)
+    result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4, 0)
     assert result
     assert obj_2 is not None
 
-    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
+    result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, 0)
     assert result
     assert obj_3 is not None
 
-    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
+    result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, 0)
     assert result
     assert obj_4 is not None
 
-    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
+    result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, 0)
     assert result
     assert obj_5 is not None
 
@@ -123,11 +123,11 @@ def test_is_similar_positive_equal_to_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0, 0)
         assert result
         assert obj_2 is not None
 
@@ -145,11 +145,11 @@ def test_is_similar_negative_equal_to_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is equal to the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0, 0)
         assert result
         assert obj_2 is not None
 
@@ -168,11 +168,11 @@ def test_is_similar_positive_less_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0, 0)
         assert result
         assert obj_2 is not None
 
@@ -191,11 +191,11 @@ def test_is_similar_negative_less_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is less than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0, 0)
         assert result
         assert obj_2 is not None
 
@@ -214,11 +214,11 @@ def test_is_similar_positive_more_than_threshold(self) -> None:
         Test case where the second landing pad has positive coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0, 0)
         assert result
         assert obj_2 is not None
 
@@ -237,11 +237,11 @@ def test_is_similar_negative_more_than_threshold(self) -> None:
         Test case where the second landing pad has negative coordinates and the distance between
         them is more than the distance threshold.
         """
-        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
+        result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
         assert result
         assert obj_1 is not None
 
-        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0)
+        result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0, 0)
         assert result
         assert obj_2 is not None
 
@@ -269,7 +269,7 @@ def test_mark_false_positive_no_similar(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20)
+        _, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20, 0)
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -296,7 +296,7 @@ def test_mark_false_positive_with_similar(
         Test if marking false positive adds detection to list of false positives and removes.
         similar landing pads
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
         assert false_positive is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_2  # type: ignore
@@ -316,10 +316,10 @@ def test_mark_multiple_false_positive(
         """
         Test if marking false positive adds detection to list of false positives.
         """
-        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1)
+        _, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1, 0)
         assert false_positive_1 is not None
 
-        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
+        _, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, 0)
         assert false_positive_2 is not None
 
         tracker._LandingPadTracking__unconfirmed_positives = detections_1  # type: ignore
@@ -344,7 +344,7 @@ def test_mark_confirmed_positive(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
         assert confirmed_positive is not None
 
         expected = [confirmed_positive]
@@ -359,10 +359,10 @@ def test_mark_multiple_confirmed_positives(
         """
         Test if marking confirmed positive adds detection to list of confirmed positives.
         """
-        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
         assert confirmed_positive_1 is not None
 
-        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
+        _, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, 0)
         assert confirmed_positive_2 is not None
 
         expected = [confirmed_positive_1, confirmed_positive_2]
@@ -469,7 +469,7 @@ def test_run_with_confirmed_positive(
         """
         Test run when there is a confirmed positive.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
         assert confirmed_positive is not None
 
         tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive)  # type: ignore
@@ -488,7 +488,7 @@ def test_run_with_false_positive(
         """
         Test to see if run function doesn't add landing pads that are similar to false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
         assert false_positive is not None
 
         tracker._LandingPadTracking__false_positives.append(false_positive)  # type: ignore

From c74a1f49b1ca21926559ea61fb5a46114368df64 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 19:47:26 -0400
Subject: [PATCH 29/42] fixed errors that formatter made

---
 main_2024.py | 18 +-----------------
 1 file changed, 1 insertion(+), 17 deletions(-)

diff --git a/main_2024.py b/main_2024.py
index 6756232c..2aac7406 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -285,7 +285,6 @@ def main() -> int:
         ),
         input_queues=[data_merge_to_geolocation_queue],
         output_queues=[geolocation_to_cluster_estimation_queue],
-        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -312,22 +311,6 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert cluster_estimation_worker_properties is not None
 
-    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
-        count=1,
-        target=cluster_estimation_worker.cluster_estimation_worker,
-        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
-        input_queues=[geolocation_to_cluster_estimation_queue],
-        output_queues=[cluster_estimation_to_main_queue],
-        controller=controller,
-        local_logger=main_logger,
-    )
-    if not result:
-        main_logger.error("Failed to create arguments for Video Input", True)
-        return -1
-
-    # Get Pylance to stop complaining
-    assert cluster_estimation_worker_properties is not None
-
     # Create managers
     worker_managers = []
 
@@ -478,6 +461,7 @@ def main() -> int:
     flight_interface_decision_queue.fill_and_drain_queue()
     geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
+    cluster_estimation_to_main_queue.fill_and_drain_queue()
 
     for manager in worker_managers:
         manager.join_workers()

From 4f0968abb38f7554d23dcbd1302200a0da238266 Mon Sep 17 00:00:00 2001
From: cyuber <alyboy2006@gmail.com>
Date: Fri, 4 Oct 2024 19:51:42 -0400
Subject: [PATCH 30/42] reformated test_decisions.py

---
 tests/unit/test_decision.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/tests/unit/test_decision.py b/tests/unit/test_decision.py
index e073d6ee..0c2d8da3 100644
--- a/tests/unit/test_decision.py
+++ b/tests/unit/test_decision.py
@@ -41,7 +41,9 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld:  # type: ignor
     location_x = BEST_PAD_LOCATION_X
     location_y = BEST_PAD_LOCATION_Y
     spherical_variance = 1.0
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, 0)
+    result, pad = object_in_world.ObjectInWorld.create(
+        location_x, location_y, spherical_variance, 0
+    )
     assert result
     assert pad is not None
 
@@ -56,7 +58,9 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld:  # type: igno
     location_x = 100.0
     location_y = 200.0
     spherical_variance = 5.0  # variance outside tolerance
-    result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance, 0)
+    result, pad = object_in_world.ObjectInWorld.create(
+        location_x, location_y, spherical_variance, 0
+    )
     assert result
     assert pad is not None
 

From 4df05c8637514e614e57cbffd462c8f80047e4db Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Wed, 9 Oct 2024 12:21:06 -0400
Subject: [PATCH 31/42] redo of integrating cluster estimation worker into main

---
 config.yaml  |  5 +++++
 main_2024.py | 62 ++++++++++++++++++++++++++++++++++++++++++++++------
 2 files changed, 60 insertions(+), 7 deletions(-)

diff --git a/config.yaml b/config.yaml
index b0dd9811..62534d32 100644
--- a/config.yaml
+++ b/config.yaml
@@ -34,3 +34,8 @@ geolocation:
     camera_orientation_yaw: 0.0
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
+
+cluster_merge:
+    min_activation_threshold: 0
+    min_new_points_to_run: 0
+    random_state: 0
\ No newline at end of file
diff --git a/main_2024.py b/main_2024.py
index 66ad913d..fe4d3278 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -19,6 +19,7 @@
 from modules.data_merge import data_merge_worker
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
+from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.logger.modules import logger
 from modules.common.logger.modules import logger_setup_main
 from modules.common.logger.read_yaml.modules import read_yaml
@@ -85,8 +86,8 @@ def main() -> int:
         VIDEO_INPUT_SAVE_PREFIX = str(pathlib.Path(logging_path, VIDEO_INPUT_SAVE_NAME_PREFIX))
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
-        detect_target_option_int = config["detect_target"]["option"]
-        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(detect_target_option_int)
+        DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
+        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
         DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
@@ -111,6 +112,10 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_YAW = config["geolocation"]["camera_orientation_yaw"]
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
+
+        MIN_ACTIVATION_THRESHOLD = config["cluster_merge"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_merge"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_merge"]["random_state"]
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -139,7 +144,7 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    geolocation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
@@ -147,6 +152,10 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
+    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
 
     result, camera_intrinsics = camera_properties.CameraIntrinsics.create(
         GEOLOCATION_RESOLUTION_X,
@@ -266,7 +275,7 @@ def main() -> int:
             camera_extrinsics,
         ),
         input_queues=[data_merge_to_geolocation_queue],
-        output_queues=[geolocation_to_main_queue],
+        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -277,6 +286,22 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert geolocation_worker_properties is not None
 
+    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
+        count=1,
+        target=cluster_estimation_worker.cluster_estimation_worker,
+        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
+        input_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[cluster_estimation_to_main_queue],
+        controller=controller,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create arguments for Video Input", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_worker_properties is not None
+
     # Create managers
     worker_managers = []
 
@@ -345,6 +370,19 @@ def main() -> int:
 
     worker_managers.append(geolocation_manager)
 
+    result, cluster_estimation_manager = worker_manager.WorkerManager.create(
+        worker_properties=cluster_estimation_worker_properties,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create manager for Flight Interface", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_manager is not None
+
+    worker_managers.append(cluster_estimation_manager)
+
     # Run
     for manager in worker_managers:
         manager.start_workers()
@@ -357,7 +395,7 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_main_queue.queue.get_nowait()
+            geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
         except queue.Empty:
             geolocation_data = None
 
@@ -374,7 +412,16 @@ def main() -> int:
                 main_logger.debug(
                     "geolocation confidence: " + str(detection_world.confidence), True
                 )
-
+        try:
+            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
+        except queue.Empty:
+            cluster_estimations = None
+        if cluster_estimations is not None:
+            for cluster in cluster_estimations:
+                main_logger.debug("Cluser in world: True")
+                main_logger.debug("Cluster location x: " + str(cluster.location_x))
+                main_logger.debug("Cluster location y: " + str(cluster.location_y))
+                main_logger.debug("Cluster spherical variance: " + str(cluster.spherical_variance))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
@@ -386,8 +433,9 @@ def main() -> int:
     detect_target_to_data_merge_queue.fill_and_drain_queue()
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
-    geolocation_to_main_queue.fill_and_drain_queue()
+    geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
+    cluster_estimation_to_main_queue.fill_and_drain_queue()
 
     for manager in worker_managers:
         manager.join_workers()

From 9ec46f24a9c33987a58db1a60ae4a775a1fd2fcc Mon Sep 17 00:00:00 2001
From: Cyuber <alyboy2006@gmail.com>
Date: Fri, 11 Oct 2024 19:06:27 -0400
Subject: [PATCH 32/42] implemented changes from review

---
 config.yaml                |  4 ++--
 main_2024.py               | 37 +++++++++----------------------------
 modules/object_in_world.py |  6 ++++++
 3 files changed, 17 insertions(+), 30 deletions(-)

diff --git a/config.yaml b/config.yaml
index 62534d32..de8fe916 100644
--- a/config.yaml
+++ b/config.yaml
@@ -35,7 +35,7 @@ geolocation:
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
 
-cluster_merge:
+cluster_estimation:
     min_activation_threshold: 0
     min_new_points_to_run: 0
-    random_state: 0
\ No newline at end of file
+    random_state: 0
diff --git a/main_2024.py b/main_2024.py
index fe4d3278..c18bd0c0 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -296,7 +296,7 @@ def main() -> int:
         local_logger=main_logger,
     )
     if not result:
-        main_logger.error("Failed to create arguments for Video Input", True)
+        main_logger.error("Failed to create arguments for Cluster Estimation", True)
         return -1
 
     # Get Pylance to stop complaining
@@ -375,7 +375,7 @@ def main() -> int:
         local_logger=main_logger,
     )
     if not result:
-        main_logger.error("Failed to create manager for Flight Interface", True)
+        main_logger.error("Failed to create manager for Cluster Estimation", True)
         return -1
 
     # Get Pylance to stop complaining
@@ -395,33 +395,14 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
-        except queue.Empty:
-            geolocation_data = None
-
-        if geolocation_data is not None:
-            for detection_world in geolocation_data:
-                main_logger.debug("Detection in world:", True)
-                main_logger.debug(
-                    "geolocation vertices: " + str(detection_world.vertices.tolist()), True
-                )
-                main_logger.debug(
-                    "geolocation centre: " + str(detection_world.centre.tolist()), True
-                )
-                main_logger.debug("geolocation label: " + str(detection_world.label), True)
-                main_logger.debug(
-                    "geolocation confidence: " + str(detection_world.confidence), True
-                )
-        try:
-            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
+            cluster_estimation_data = cluster_estimation_to_main_queue.queue.get_nowait()
         except queue.Empty:
-            cluster_estimations = None
-        if cluster_estimations is not None:
-            for cluster in cluster_estimations:
-                main_logger.debug("Cluser in world: True")
-                main_logger.debug("Cluster location x: " + str(cluster.location_x))
-                main_logger.debug("Cluster location y: " + str(cluster.location_y))
-                main_logger.debug("Cluster spherical variance: " + str(cluster.spherical_variance))
+            cluster_estimation_data = None
+        
+        if cluster_estimation_data is not None:
+            for object_in_world in cluster_estimation_data:
+                main_logger.debug("Cluster in world: ", True)
+                main_logger.debug(object_in_world.__str__)
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 1ce9f65e..31f7ef01 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -38,3 +38,9 @@ def __init__(
         self.location_x = location_x
         self.location_y = location_y
         self.spherical_variance = spherical_variance
+
+    def __str__(self) -> str:
+        """
+        To string.
+        """
+        return f"{self.__class__}, location x: {self.location_x}, location y: {self.location_y}, spherical variance: {self.spherical_variance}, label: {self.label}"

From fb2897285348d796c109afb5ba85028c8d6d4a7e Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Thu, 31 Oct 2024 00:27:14 -0400
Subject: [PATCH 33/42] fixed formatting issue

---
 main_2024.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main_2024.py b/main_2024.py
index c18bd0c0..2f6cacd0 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -398,7 +398,7 @@ def main() -> int:
             cluster_estimation_data = cluster_estimation_to_main_queue.queue.get_nowait()
         except queue.Empty:
             cluster_estimation_data = None
-        
+
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
                 main_logger.debug("Cluster in world: ", True)

From 62e5b7a01c2055315f2c95cb7844254b6e7e1dff Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Fri, 1 Nov 2024 15:15:34 -0400
Subject: [PATCH 34/42] implemented reviewed changes

---
 main_2024.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/main_2024.py b/main_2024.py
index 2f6cacd0..4349ea9e 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -113,9 +113,9 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
 
-        MIN_ACTIVATION_THRESHOLD = config["cluster_merge"]["min_activation_threshold"]
-        MIN_NEW_POINTS_TO_RUN = config["cluster_merge"]["min_new_points_to_run"]
-        RANDOM_STATE = config["cluster_merge"]["random_state"]
+        MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_estimation"]["random_state"]
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -401,8 +401,8 @@ def main() -> int:
 
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
-                main_logger.debug("Cluster in world: ", True)
-                main_logger.debug(object_in_world.__str__)
+                main_logger.debug("Cluster in world: ", (object_in_world is not None))
+                main_logger.debug(str(object_in_world))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break

From d6183f0e59fcc1b2c7e6a9bba931c2d6a49925ef Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Fri, 1 Nov 2024 20:25:00 -0400
Subject: [PATCH 35/42] fixed review changes

---
 config.yaml  | 4 ++--
 main_2024.py | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/config.yaml b/config.yaml
index de8fe916..44bdd6df 100644
--- a/config.yaml
+++ b/config.yaml
@@ -36,6 +36,6 @@ geolocation:
     camera_orientation_roll: 0.0
 
 cluster_estimation:
-    min_activation_threshold: 0
-    min_new_points_to_run: 0
+    min_activation_threshold: 25
+    min_new_points_to_run: 5
     random_state: 0
diff --git a/main_2024.py b/main_2024.py
index 4349ea9e..0cc5e2e1 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -401,7 +401,7 @@ def main() -> int:
 
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
-                main_logger.debug("Cluster in world: ", (object_in_world is not None))
+                main_logger.debug("Cluster in world: ", True)
                 main_logger.debug(str(object_in_world))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)

From 617ae90cc0ac57f957eb7a53a4414632d52e0bdb Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Wed, 9 Oct 2024 12:21:06 -0400
Subject: [PATCH 36/42] redo of integrating cluster estimation worker into main

---
 modules/common | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/common b/modules/common
index 5c3894e0..a32385ee 160000
--- a/modules/common
+++ b/modules/common
@@ -1 +1 @@
-Subproject commit 5c3894e043c5129a1c0579c6f6acae2cc7a52a18
+Subproject commit a32385eefab7d6a5468f5b8f2e708860a5f085d6

From 05fdf6309b973c2cbbcf46e2dad7b63c24d14588 Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Wed, 9 Oct 2024 12:21:06 -0400
Subject: [PATCH 37/42] redo of integrating cluster estimation worker into main

---
 config.yaml  |  5 +++++
 main_2024.py | 62 ++++++++++++++++++++++++++++++++++++++++++++++------
 2 files changed, 60 insertions(+), 7 deletions(-)

diff --git a/config.yaml b/config.yaml
index b0dd9811..62534d32 100644
--- a/config.yaml
+++ b/config.yaml
@@ -34,3 +34,8 @@ geolocation:
     camera_orientation_yaw: 0.0
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
+
+cluster_merge:
+    min_activation_threshold: 0
+    min_new_points_to_run: 0
+    random_state: 0
\ No newline at end of file
diff --git a/main_2024.py b/main_2024.py
index f6297226..4ffc4b9a 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -19,6 +19,7 @@
 from modules.data_merge import data_merge_worker
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
+from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.modules.logger import logger
 from modules.common.modules.logger import logger_main_setup
 from modules.common.modules.read_yaml import read_yaml
@@ -85,8 +86,8 @@ def main() -> int:
         VIDEO_INPUT_SAVE_PREFIX = str(pathlib.Path(logging_path, VIDEO_INPUT_SAVE_NAME_PREFIX))
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
-        detect_target_option_int = config["detect_target"]["option"]
-        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(detect_target_option_int)
+        DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
+        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
         DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
@@ -111,6 +112,10 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_YAW = config["geolocation"]["camera_orientation_yaw"]
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
+
+        MIN_ACTIVATION_THRESHOLD = config["cluster_merge"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_merge"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_merge"]["random_state"]
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -139,7 +144,7 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    geolocation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
@@ -147,6 +152,10 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
+    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
 
     result, camera_intrinsics = camera_properties.CameraIntrinsics.create(
         GEOLOCATION_RESOLUTION_X,
@@ -266,7 +275,7 @@ def main() -> int:
             camera_extrinsics,
         ),
         input_queues=[data_merge_to_geolocation_queue],
-        output_queues=[geolocation_to_main_queue],
+        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -277,6 +286,22 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert geolocation_worker_properties is not None
 
+    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
+        count=1,
+        target=cluster_estimation_worker.cluster_estimation_worker,
+        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
+        input_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[cluster_estimation_to_main_queue],
+        controller=controller,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create arguments for Video Input", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_worker_properties is not None
+
     # Create managers
     worker_managers = []
 
@@ -345,6 +370,19 @@ def main() -> int:
 
     worker_managers.append(geolocation_manager)
 
+    result, cluster_estimation_manager = worker_manager.WorkerManager.create(
+        worker_properties=cluster_estimation_worker_properties,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create manager for Flight Interface", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_manager is not None
+
+    worker_managers.append(cluster_estimation_manager)
+
     # Run
     for manager in worker_managers:
         manager.start_workers()
@@ -357,7 +395,7 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_main_queue.queue.get_nowait()
+            geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
         except queue.Empty:
             geolocation_data = None
 
@@ -374,7 +412,16 @@ def main() -> int:
                 main_logger.debug(
                     "geolocation confidence: " + str(detection_world.confidence), True
                 )
-
+        try:
+            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
+        except queue.Empty:
+            cluster_estimations = None
+        if cluster_estimations is not None:
+            for cluster in cluster_estimations:
+                main_logger.debug("Cluser in world: True")
+                main_logger.debug("Cluster location x: " + str(cluster.location_x))
+                main_logger.debug("Cluster location y: " + str(cluster.location_y))
+                main_logger.debug("Cluster spherical variance: " + str(cluster.spherical_variance))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
@@ -386,8 +433,9 @@ def main() -> int:
     detect_target_to_data_merge_queue.fill_and_drain_queue()
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
-    geolocation_to_main_queue.fill_and_drain_queue()
+    geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
+    cluster_estimation_to_main_queue.fill_and_drain_queue()
 
     for manager in worker_managers:
         manager.join_workers()

From d86f7cec4ac3e9831352fe718b8e69286ec71e22 Mon Sep 17 00:00:00 2001
From: Cyuber <alyboy2006@gmail.com>
Date: Fri, 11 Oct 2024 19:06:27 -0400
Subject: [PATCH 38/42] implemented changes from review

---
 config.yaml                |  4 ++--
 main_2024.py               | 37 +++++++++----------------------------
 modules/object_in_world.py |  6 ++++++
 3 files changed, 17 insertions(+), 30 deletions(-)

diff --git a/config.yaml b/config.yaml
index 62534d32..de8fe916 100644
--- a/config.yaml
+++ b/config.yaml
@@ -35,7 +35,7 @@ geolocation:
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
 
-cluster_merge:
+cluster_estimation:
     min_activation_threshold: 0
     min_new_points_to_run: 0
-    random_state: 0
\ No newline at end of file
+    random_state: 0
diff --git a/main_2024.py b/main_2024.py
index 4ffc4b9a..6768d361 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -296,7 +296,7 @@ def main() -> int:
         local_logger=main_logger,
     )
     if not result:
-        main_logger.error("Failed to create arguments for Video Input", True)
+        main_logger.error("Failed to create arguments for Cluster Estimation", True)
         return -1
 
     # Get Pylance to stop complaining
@@ -375,7 +375,7 @@ def main() -> int:
         local_logger=main_logger,
     )
     if not result:
-        main_logger.error("Failed to create manager for Flight Interface", True)
+        main_logger.error("Failed to create manager for Cluster Estimation", True)
         return -1
 
     # Get Pylance to stop complaining
@@ -395,33 +395,14 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
-        except queue.Empty:
-            geolocation_data = None
-
-        if geolocation_data is not None:
-            for detection_world in geolocation_data:
-                main_logger.debug("Detection in world:", True)
-                main_logger.debug(
-                    "geolocation vertices: " + str(detection_world.vertices.tolist()), True
-                )
-                main_logger.debug(
-                    "geolocation centre: " + str(detection_world.centre.tolist()), True
-                )
-                main_logger.debug("geolocation label: " + str(detection_world.label), True)
-                main_logger.debug(
-                    "geolocation confidence: " + str(detection_world.confidence), True
-                )
-        try:
-            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
+            cluster_estimation_data = cluster_estimation_to_main_queue.queue.get_nowait()
         except queue.Empty:
-            cluster_estimations = None
-        if cluster_estimations is not None:
-            for cluster in cluster_estimations:
-                main_logger.debug("Cluser in world: True")
-                main_logger.debug("Cluster location x: " + str(cluster.location_x))
-                main_logger.debug("Cluster location y: " + str(cluster.location_y))
-                main_logger.debug("Cluster spherical variance: " + str(cluster.spherical_variance))
+            cluster_estimation_data = None
+        
+        if cluster_estimation_data is not None:
+            for object_in_world in cluster_estimation_data:
+                main_logger.debug("Cluster in world: ", True)
+                main_logger.debug(object_in_world.__str__)
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
diff --git a/modules/object_in_world.py b/modules/object_in_world.py
index 1ce9f65e..31f7ef01 100644
--- a/modules/object_in_world.py
+++ b/modules/object_in_world.py
@@ -38,3 +38,9 @@ def __init__(
         self.location_x = location_x
         self.location_y = location_y
         self.spherical_variance = spherical_variance
+
+    def __str__(self) -> str:
+        """
+        To string.
+        """
+        return f"{self.__class__}, location x: {self.location_x}, location y: {self.location_y}, spherical variance: {self.spherical_variance}, label: {self.label}"

From a203f426fa737364acba0e283d55118cd87e164e Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Thu, 31 Oct 2024 00:27:14 -0400
Subject: [PATCH 39/42] fixed formatting issue

---
 main_2024.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main_2024.py b/main_2024.py
index 6768d361..100957ee 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -398,7 +398,7 @@ def main() -> int:
             cluster_estimation_data = cluster_estimation_to_main_queue.queue.get_nowait()
         except queue.Empty:
             cluster_estimation_data = None
-        
+
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
                 main_logger.debug("Cluster in world: ", True)

From 4e0602fc42e08db7f8c069c7cf5334d2df647267 Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Fri, 1 Nov 2024 15:15:34 -0400
Subject: [PATCH 40/42] implemented reviewed changes

---
 main_2024.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/main_2024.py b/main_2024.py
index 100957ee..43dcbcce 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -113,9 +113,9 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
 
-        MIN_ACTIVATION_THRESHOLD = config["cluster_merge"]["min_activation_threshold"]
-        MIN_NEW_POINTS_TO_RUN = config["cluster_merge"]["min_new_points_to_run"]
-        RANDOM_STATE = config["cluster_merge"]["random_state"]
+        MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_estimation"]["random_state"]
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -401,8 +401,8 @@ def main() -> int:
 
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
-                main_logger.debug("Cluster in world: ", True)
-                main_logger.debug(object_in_world.__str__)
+                main_logger.debug("Cluster in world: ", (object_in_world is not None))
+                main_logger.debug(str(object_in_world))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break

From c84fe868edd5c9b7aa5fde328af555550431d32a Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Fri, 1 Nov 2024 20:25:00 -0400
Subject: [PATCH 41/42] fixed review changes

---
 config.yaml  | 4 ++--
 main_2024.py | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/config.yaml b/config.yaml
index de8fe916..44bdd6df 100644
--- a/config.yaml
+++ b/config.yaml
@@ -36,6 +36,6 @@ geolocation:
     camera_orientation_roll: 0.0
 
 cluster_estimation:
-    min_activation_threshold: 0
-    min_new_points_to_run: 0
+    min_activation_threshold: 25
+    min_new_points_to_run: 5
     random_state: 0
diff --git a/main_2024.py b/main_2024.py
index 43dcbcce..9af33b30 100644
--- a/main_2024.py
+++ b/main_2024.py
@@ -401,7 +401,7 @@ def main() -> int:
 
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
-                main_logger.debug("Cluster in world: ", (object_in_world is not None))
+                main_logger.debug("Cluster in world: ", True)
                 main_logger.debug(str(object_in_world))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)

From f0aaaa96aca086970d5198aa13c21ea9b6d0eafe Mon Sep 17 00:00:00 2001
From: Aleksa-M <a2misic@uwaterloo.ca>
Date: Thu, 7 Nov 2024 05:32:18 -0500
Subject: [PATCH 42/42] rebased

---
 modules/common | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/common b/modules/common
index a32385ee..5c3894e0 160000
--- a/modules/common
+++ b/modules/common
@@ -1 +1 @@
-Subproject commit a32385eefab7d6a5468f5b8f2e708860a5f085d6
+Subproject commit 5c3894e043c5129a1c0579c6f6acae2cc7a52a18