autoware_traffic_light_map_based_detector

Overview

autoware_traffic_light_map_based_detector calculates where the traffic lights will appear in the image based on the HD map.

Calibration and vibration errors can be entered as parameters, and the size of the detected RegionOfInterest will change according to the error.

If the node receives route information, it only looks at traffic lights on that route. If the node receives no route information, it looks at them within a radius of max_detection_range and the angle between the traffic light and the camera is less than car_traffic_light_max_angle_range or pedestrian_traffic_light_max_angle_range.

Input topics

Name	Type	Description
~/input/vector_map	autoware_map_msgs::msg::LaneletMapBin	vector map
~/input/camera_info	sensor_msgs::msg::CameraInfo	target camera parameter
~/input/route	autoware_planning_msgs::msg::LaneletRoute	optional: route

Output topics

Name	Type	Description
~/output/rois	tier4_perception_msgs::msg::TrafficLightRoiArray	location of traffic lights in image corresponding to the camera info
~/expect/rois	tier4_perception_msgs::msg::TrafficLightRoiArray	location of traffic lights in image without any offset
~/debug/markers	visualization_msgs::msg::MarkerArray	markers which show a line that combines from camera to each traffic light

Node parameters

Name	Type	Description	Default	Range
max_vibration_pitch	float	Maximum error in pitch direction. If -5~+5, it will be 10.	0.0174533	N/A
max_vibration_yaw	float	Maximum error in yaw direction. If -5~+5, it will be 10.	0.0174533	N/A
max_vibration_height	float	Maximum error in height direction. If -5~+5, it will be 10.	0.5	N/A
max_vibration_width	float	Maximum error in width direction. If -5~+5, it will be 10.	0.5	N/A
max_vibration_depth	float	Maximum error in depth direction. If -5~+5, it will be 10.	0.5	N/A
max_detection_range	float	Maximum detection range in meters. Must be positive.	200	N/A
min_timestamp_offset	float	Minimum timestamp offset when searching for corresponding tf.	-0.3	N/A
max_timestamp_offset	float	Maximum timestamp offset when searching for corresponding tf.	0	N/A
timestamp_sample_len	float	Sampling length between min_timestamp_offset and max_timestamp_offset.	0.02	N/A
car_traffic_light_max_angle_range	float	Maximum angle range for detecting car traffic lights (degrees).	40	N/A
pedestrian_traffic_light_max_angle_range	float	Maximum angle range for detecting pedestrian traffic lights (degrees).	80	N/A