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traffic_light_visualization#

Purpose#

The traffic_light_visualization is a package that includes two visualizing nodes:

  • traffic_light_map_visualizer is a node that shows traffic lights color status and position on rviz as markers.
  • traffic_light_roi_visualizer is a node that draws the result of traffic light recognition nodes (traffic light status, position and classification probability) on the input image as shown in the following figure and publishes it.

traffic light roi visualization

Inner-workings / Algorithms#

Inputs / Outputs#

traffic_light_map_visualizer#

Input#

Name Type Description
~/input/tl_state tier4_perception_msgs::msg::TrafficSignalArray status of traffic lights
~/input/vector_map autoware_auto_mapping_msgs::msg::HADMapBin vector map

Output#

Name Type Description
~/output/traffic_light visualization_msgs::msg::MarkerArray marker array that indicates status of traffic lights

traffic_light_roi_visualizer#

Input#

Name Type Description
~/input/tl_state tier4_perception_msgs::msg::TrafficSignalArray status of traffic lights
~/input/image sensor_msgs::msg::Image the image captured by perception cameras
~/input/rois tier4_perception_msgs::msg::TrafficLightRoiArray the ROIs detected by traffic_light_ssd_fine_detector
~/input/rough/rois (option) tier4_perception_msgs::msg::TrafficLightRoiArray the ROIs detected by traffic_light_map_based_detector

Output#

Name Type Description
~/output/image sensor_msgs::msg::Image output image with ROIs

Parameters#

traffic_light_map_visualizer#

None

traffic_light_roi_visualizer#

Node Parameters#

Name Type Default Value Description
enable_fine_detection bool false whether to visualize result of the traffic light fine detection

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#