The traffic_light_multi_camera_fusion Package

Overview

traffic_light_multi_camera_fusion performs traffic light signal fusion which can be summarized as the following two tasks:

1. Multi-Camera-Fusion: performed on single traffic light signal detected by different cameras.
2. Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanelet2 map.

Input topics

For every camera, the following three topics are subscribed:

Name	Type	Description
~/<camera_namespace>/camera_info	sensor_msgs::CameraInfo	camera info from traffic_light_map_based_detector
~/<camera_namespace>/rois	tier4_perception_msgs::TrafficLightRoiArray	detection roi from traffic_light_fine_detector
~/<camera_namespace>/traffic_signals	tier4_perception_msgs::TrafficLightSignalArray	classification result from traffic_light_classifier

You don't need to configure these topics manually. Just provide the camera_namespaces parameter and the node will automatically extract the <camera_namespace> and create the subscribers.

Output topics

Name	Type	Description
~/output/traffic_signals	autoware_perception_msgs::TrafficLightSignalArray	traffic light signal fusion result

Node parameters

Parameter	Type	Description
camera_namespaces	vector\	Camera Namespaces to be fused
message_lifespan	double	The maximum timestamp span to be fused
approximate_sync	bool	Whether work in Approximate Synchronization Mode
perform_group_fusion	bool	Whether perform Group Fusion