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autoware_traffic_light_visualization#

Purpose#

The autoware_traffic_light_visualization is a package that includes two visualizing nodes:

traffic_light_map_visualizer#

The node shows traffic light's color and position on rviz as markers.

traffic light map visualization

  • The estimated traffic light color is visualized using map information like the traffic light at the center of the image.
  • May not be possible to visualize without information on each of the lights (light_bulbs) at the traffic lights.

traffic_light_roi_visualizer#

The node draws the result of traffic light recognition on the input image as shown in the following figure and publishes it.

traffic light roi visualization

  • The colors ~/input/rois and ~/input/rough/rois are the same as color whose shape is CIRCLE in ~/input/traffic_signals (unknown shows as white).
  • The labels in the upper left of ~/input/rois shows shape and confidence in ~/input/traffic_signals.
  • The type of shape should be referred to images directory. There are only 3 types of arrows in the image, but they can represent 8 directions.

Inner-workings / Algorithms#

Inputs / Outputs#

traffic_light_map_visualizer#

Input#

Name Type Description
~/input/tl_state autoware_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/traffic_signals 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 autoware_traffic_light_fine_detector
~/input/rough/rois (option) tier4_perception_msgs::msg::TrafficLightRoiArray the ROIs detected by autoware_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_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) Future extensions / Unimplemented parts#