The autoware_traffic_light_selector Package

Overview

autoware_traffic_light_selector selects the interest traffic light from the list of detected traffic lights by deep learning neural network (DNN) based on the expect ROIs and rough ROIs information and then assign traffic_light_id for them.

Input topics

Name	Type	Description
input/detected_rois	tier4_perception_msgs::msg::DetectedObjectsWithFeature	detected traffic light by DNN
input/rough_rois	tier4_perception_msgs::msg::TrafficLightRoiArray	location of traffic lights in image corresponding to the camera info
input/expect_rois	tier4_perception_msgs::msg::TrafficLightRoiArray	location of traffic lights in image without any offset

Output topics

Name	Type	Description
output/traffic_light_rois	tier4_perception_msgs::TrafficLightRoiArray	detected traffic light of interest

Node parameters

Name	Type	Description	Default	Range
max_iou_threshold	float	Threshold of generalized IOU for detected traffic light selection	-0.5	≥-1.0 ≤1.0

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