autoware_traffic_light_visualization

Purpose

The autoware_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	tier4_perception_msgs::msg::TrafficLightGroupArray	status of traffic lights
~/input/vector_map	autoware_map_msgs::msg::LaneletMapBin	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::TrafficLightArray	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_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	Description	Default	Range
enable_fine_detection	boolean	whether to visualize result of the traffic light fine detection	false	N/A
use_image_transport	boolean	whether to apply image transport to compress the output debugging image in the traffic light fine detection	true	N/A

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts