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 |
|---|---|---|---|---|
| use_ml_detector | 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 |