autoware_traffic_light_multi_camera_fusion

Overview

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

1. Multi-Camera-Fusion: fusion each traffic light signal detected by different cameras.
2. Group-Fusion: Fusion each traffic light signal within the same group, which means traffic lights share the same regulatory element ID defined in lanelet2 map.

The fusion method is below.

1. Use the results of the new timestamp if the results are from the same sensor
2. Use the results that are not elements.size() == 1 && color == UNKNOWN && shape == UNKNOWN
3. Use the results that each vertex of ROI is not at the edge of the image
4. Use the results of high confidence

Input topics

For every camera, the following three topics are subscribed:

Name	Type	Description
~/<camera_namespace>/camera_info	sensor_msgs::msg::CameraInfo	camera info from map_based_detector
~/<camera_namespace>/detection/rois	tier4_perception_msgs::msg::TrafficLightRoiArray	detection roi from fine_detector
~/<camera_namespace>/classification/traffic_signals	tier4_perception_msgs::msg::TrafficLightArray	classification result from 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::msg::TrafficLightGroupArray	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