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.
![traffic light roi visualization](images/roi-visualization.png)
Inner-workings / Algorithms
traffic_light_map_visualizer
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
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) References/External links
(Optional) Future extensions / Unimplemented parts