This package contains tools and nodes that are related to traffic light recognition.
This node projects traffic light in Lanelet2 map into camera image.
Projected information is assumed be used in traffic light recognition nodes (region_tlr_* nodes).
Your Lanelet2 map should contain traffic light regulatory elements to use this feature.
Ideally, traffic light regulatory element should have optional light_bulbs members as explained in "Format Extension for Autoware" in order to project accurate position of each lamp. If light_bulbs member is not present(e.g. if you are using default lanelet2 format), this node will assume that lamps are at each corner of traffic light. This allows the following traffic recognition nodes to calculate bounding box of traffic light in the image. In case you do not have light_bulbs defined in your map, you can only use either region_tlr_mxnet or region_tlr_ssd for color recognition, not region_tlr
Using rosrun:
rosrun trafficlight_recognizer feat_proj_lanelet2
Using roslaunch:
roslaunch trafficlight_recognizer feat_proj_lanelet2.launch
| Parameter | Type | Description | Default |
|---|---|---|---|
~/use_path_info |
bool | When this is set true, only traffic lights associated to current driving lane are projected. Otherwise, all visible traffic lights are projected. |
false |
~/camera_frame |
String | Name of optical frame of the camera. | "camera" |
| topic | type | Description |
|---|---|---|
/lanelet_map_bin |
lanelet_msgs/MapBin | binary data of lanelet2 map |
/camera_info |
sensor_msgs/CameraInfo | Camera parameters used for projection |
/config/adjust_xy |
autoware_msgs/AdjustXY | This topic sets offsets of projection in image |
/final_waypoints |
autoware_msgs/Lane | path of vehicle. only subscribed when use_path_info parameter is set true |
| topic | type | Description |
|---|---|---|
/roi_signal |
autoware_msgs/Signals | Contains positions of traffic lights in both map frame and image frame |
map->camera