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.

Inner-workings / Algorithms

Inputs / Outputs

traffic_light_map_visualizer

Input

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

(Optional) Future extensions / Unimplemented parts