text: from styx_msgs.msg import TrafficLight
  import cv2
  import numpy as np
  
  class TLClassifier(object):
      def __init__(self):
          #TODO load classifier
          pass
  
      def get_classification(self, frame):
          """Determines the color of the traffic light in the image
  
          Args:
              image (cv::Mat): image containing the traffic light
  
          Returns:
              int: ID of traffic light color (specified in styx_msgs/TrafficLight)
  
          """
          hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
  
          lower_red1 = np.array([0,50,70])
          upper_red1 = np.array([10,255,255])
          mask1 = cv2.inRange(hsv, lower_red1, upper_red1)
  
          lower_red2 = np.array([160,50,50])
          upper_red2 = np.array([180,255,255])
          mask2 = cv2.inRange(hsv, lower_red2, upper_red2)
  
          mask = mask1 | mask2
          res = cv2.bitwise_and(frame,frame, mask= mask)
          img = cv2.medianBlur(res, 5)
  
          cimg = cv2.cvtColor(img, cv2.COLOR_HSV2BGR)
          cimg = cv2.cvtColor(cimg, cv2.COLOR_BGR2GRAY)
  
          circles = cv2.HoughCircles(cimg, cv2.HOUGH_GRADIENT, 1, 60,                  
                           param1=30, param2=10, minRadius=0, maxRadius=0)
          if circles is not None:
              return TrafficLight.RED
          else:
              return TrafficLight.UNKNOWN
  