refactor(tier4_perception_msgs): rename traffic_signal to traffic_light

common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware_perception_msgs/msg/traffic_signal.hpp"
 #include "autoware_perception_msgs/msg/traffic_signal_element.hpp"
+#include "tier4_perception_msgs/msg/traffic_light.hpp"
 #include "tier4_perception_msgs/msg/traffic_light_element.hpp"
 #include "tier4_perception_msgs/msg/traffic_light_roi.hpp"
-#include "tier4_perception_msgs/msg/traffic_signal.hpp"
 
 #include <lanelet2_core/primitives/Lanelet.h>
 #include <lanelet2_core/primitives/LineString.h>
@@ -35,9 +35,9 @@ bool isRoiValid(
 
 void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi);
 
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal);
+bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal);
 
-void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence = -1);
+void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1);
 
 /**
  * @brief Checks if a traffic light state includes a circle-shaped light with the specified color.

common/traffic_light_utils/src/traffic_light_utils.cpp

@@ -33,14 +33,14 @@ void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi)
   roi.roi.height = roi.roi.width = 0;
 }
 
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal)
+bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
 {
   return signal.elements.size() == 1 &&
          signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&
          signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
 }
 
-void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence)
+void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence)
 {
   signal.elements.resize(1);
   signal.elements[0].shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;

common/traffic_light_utils/test/test_traffic_light_utils.cpp

@@ -48,7 +48,7 @@ TEST(setRoiInvalid, set_roi_size)
 
 TEST(isSignalUnknown, signal_element)
 {
-  tier4_perception_msgs::msg::TrafficSignal test_signal;
+  tier4_perception_msgs::msg::TrafficLight test_signal;
   tier4_perception_msgs::msg::TrafficLightElement element;
   element.color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
   element.shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
@@ -60,7 +60,7 @@ TEST(isSignalUnknown, signal_element)
 
 TEST(setSignalUnknown, set_signal_element)
 {
-  tier4_perception_msgs::msg::TrafficSignal test_signal;
+  tier4_perception_msgs::msg::TrafficLight test_signal;
   tier4_perception_msgs::msg::TrafficLightElement element;
   element.color = tier4_perception_msgs::msg::TrafficLightElement::RED;
   element.shape = tier4_perception_msgs::msg::TrafficLightElement::CROSS;

perception/crosswalk_traffic_light_estimator/README.md

@@ -8,17 +8,17 @@
 
 ### Input
 
-| Name                                 | Type                                             | Description        |
-| ------------------------------------ | ------------------------------------------------ | ------------------ |
-| `~/input/vector_map`                 | `autoware_auto_mapping_msgs::msg::HADMapBin`     | vector map         |
-| `~/input/route`                      | `autoware_planning_msgs::msg::LaneletRoute`      | route              |
-| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals |
+| Name                                 | Type                                                | Description        |
+| ------------------------------------ | --------------------------------------------------- | ------------------ |
+| `~/input/vector_map`                 | `autoware_auto_mapping_msgs::msg::HADMapBin`        | vector map         |
+| `~/input/route`                      | `autoware_planning_msgs::msg::LaneletRoute`         | route              |
+| `~/input/classified/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | classified signals |
 
 ### Output
 
-| Name                       | Type                                             | Description                                               |
-| -------------------------- | ------------------------------------------------ | --------------------------------------------------------- |
-| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | output that contains estimated pedestrian traffic signals |
+| Name                       | Type                                                | Description                                               |
+| -------------------------- | --------------------------------------------------- | --------------------------------------------------------- |
+| `~/output/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | output that contains estimated pedestrian traffic signals |
 
 ## Parameters
 

perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp

@@ -23,9 +23,6 @@
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
-#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
 
 #include <lanelet2_core/Attribute.h>
 #include <lanelet2_core/LaneletMap.h>

perception/traffic_light_classifier/README.md

@@ -43,10 +43,10 @@ These colors and shapes are assigned to the message as follows:
 
 ### Output
 
-| Name                       | Type                                             | Description         |
-| -------------------------- | ------------------------------------------------ | ------------------- |
-| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals  |
-| `~/output/debug/image`     | `sensor_msgs::msg::Image`                        | image for debugging |
+| Name                       | Type                                            | Description         |
+| -------------------------- | ----------------------------------------------- | ------------------- |
+| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | classified signals  |
+| `~/output/debug/image`     | `sensor_msgs::msg::Image`                       | image for debugging |
 
 ## Parameters
 

perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp

@@ -18,7 +18,7 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 
 #include <vector>
 
@@ -29,7 +29,7 @@ class ClassifierInterface
 public:
   virtual bool getTrafficSignals(
     const std::vector<cv::Mat> & input_image,
-    tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) = 0;
+    tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) = 0;
 };
 }  // namespace traffic_light
 

perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp

@@ -57,14 +57,14 @@ class CNNClassifier : public ClassifierInterface
 
   bool getTrafficSignals(
     const std::vector<cv::Mat> & images,
-    tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) override;
+    tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) override;
 
 private:
-  void postProcess(int cls, float prob, tier4_perception_msgs::msg::TrafficSignal & traffic_signal);
+  void postProcess(int cls, float prob, tier4_perception_msgs::msg::TrafficLight & traffic_signal);
   bool readLabelfile(std::string filepath, std::vector<std::string> & labels);
   bool isColorLabel(const std::string label);
   void outputDebugImage(
-    cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficSignal & traffic_signal);
+    cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficLight & traffic_signal);
 
 private:
   std::map<int, std::string> state2label_{

perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp

@@ -22,7 +22,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -64,7 +64,7 @@ class ColorClassifier : public ClassifierInterface
 
   bool getTrafficSignals(
     const std::vector<cv::Mat> & images,
-    tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) override;
+    tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) override;
 
 private:
   bool filterHSV(

perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp

@@ -24,10 +24,10 @@
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/header.hpp>
+#include <tier4_perception_msgs/msg/traffic_light.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_element.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -85,7 +85,7 @@ class TrafficLightClassifierNodelet : public rclcpp::Node
   typedef message_filters::Synchronizer<ApproximateSyncPolicy> ApproximateSync;
   std::shared_ptr<ApproximateSync> approximate_sync_;
   bool is_approximate_sync_;
-  rclcpp::Publisher<tier4_perception_msgs::msg::TrafficSignalArray>::SharedPtr
+  rclcpp::Publisher<tier4_perception_msgs::msg::TrafficLightArray>::SharedPtr
     traffic_signal_array_pub_;
   std::shared_ptr<ClassifierInterface> classifier_ptr_;
 

perception/traffic_light_classifier/src/cnn_classifier.cpp

@@ -65,7 +65,7 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
 
 bool CNNClassifier::getTrafficSignals(
   const std::vector<cv::Mat> & images,
-  tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals)
+  tier4_perception_msgs::msg::TrafficLightArray & traffic_signals)
 {
   if (images.size() != traffic_signals.signals.size()) {
     RCLCPP_WARN(node_ptr_->get_logger(), "image number should be equal to traffic signal number!");
@@ -106,7 +106,7 @@ bool CNNClassifier::getTrafficSignals(
 }
 
 void CNNClassifier::outputDebugImage(
-  cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficSignal & traffic_signal)
+  cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficLight & traffic_signal)
 {
   float probability;
   std::string label;
@@ -138,7 +138,7 @@ void CNNClassifier::outputDebugImage(
 }
 
 void CNNClassifier::postProcess(
-  int class_index, float prob, tier4_perception_msgs::msg::TrafficSignal & traffic_signal)
+  int class_index, float prob, tier4_perception_msgs::msg::TrafficLight & traffic_signal)
 {
   std::string match_label = labels_[class_index];
 
@@ -196,7 +196,7 @@ bool CNNClassifier::readLabelfile(std::string filepath, std::vector<std::string>
 
 bool CNNClassifier::isColorLabel(const std::string label)
 {
-  using tier4_perception_msgs::msg::TrafficSignal;
+  using tier4_perception_msgs::msg::TrafficLight;
   if (
     label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::GREEN] ||
     label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::AMBER] ||

perception/traffic_light_classifier/src/color_classifier.cpp

@@ -53,7 +53,7 @@ ColorClassifier::ColorClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
 
 bool ColorClassifier::getTrafficSignals(
   const std::vector<cv::Mat> & images,
-  tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals)
+  tier4_perception_msgs::msg::TrafficLightArray & traffic_signals)
 {
   if (images.size() != traffic_signals.signals.size()) {
     RCLCPP_WARN(node_ptr_->get_logger(), "image number should be equal to traffic signal number!");

perception/traffic_light_classifier/src/nodelet.cpp

@@ -42,9 +42,8 @@ TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeO
       std::bind(&TrafficLightClassifierNodelet::imageRoiCallback, this, _1, _2));
   }
 
-  traffic_signal_array_pub_ =
-    this->create_publisher<tier4_perception_msgs::msg::TrafficSignalArray>(
-      "~/output/traffic_signals", rclcpp::QoS{1});
+  traffic_signal_array_pub_ = this->create_publisher<tier4_perception_msgs::msg::TrafficLightArray>(
+    "~/output/traffic_signals", rclcpp::QoS{1});
 
   using std::chrono_literals::operator""ms;
   timer_ = rclcpp::create_timer(
@@ -95,7 +94,7 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
       input_image_msg->encoding.c_str());
   }
 
-  tier4_perception_msgs::msg::TrafficSignalArray output_msg;
+  tier4_perception_msgs::msg::TrafficLightArray output_msg;
 
   output_msg.signals.resize(input_rois_msg->rois.size());
 
@@ -131,7 +130,7 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
   // append the undetected rois as unknown
   for (const auto & input_roi : input_rois_msg->rois) {
     if (input_roi.roi.height == 0 && input_roi.traffic_light_type == classify_traffic_light_type_) {
-      tier4_perception_msgs::msg::TrafficSignal tlr_sig;
+      tier4_perception_msgs::msg::TrafficLight tlr_sig;
       tlr_sig.traffic_light_id = input_roi.traffic_light_id;
       tlr_sig.traffic_light_type = input_roi.traffic_light_type;
       tier4_perception_msgs::msg::TrafficLightElement element;

perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp

@@ -123,7 +123,7 @@ class SingleImageDebugInferenceNode : public rclcpp::Node
         return;
       }
       cv::cvtColor(crop, crop, cv::COLOR_BGR2RGB);
-      tier4_perception_msgs::msg::TrafficSignalArray traffic_signal;
+      tier4_perception_msgs::msg::TrafficLightArray traffic_signal;
       if (!classifier_ptr_->getTrafficSignals({crop}, traffic_signal)) {
         RCLCPP_ERROR(get_logger(), "failed to classify image");
         return;

perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp

@@ -20,8 +20,8 @@
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
 
 #include <lanelet2_core/Forward.h>
 #include <message_filters/subscriber.h>
@@ -46,15 +46,15 @@ struct FusionRecord
   std_msgs::msg::Header header;
   sensor_msgs::msg::CameraInfo cam_info;
   tier4_perception_msgs::msg::TrafficLightRoi roi;
-  tier4_perception_msgs::msg::TrafficSignal signal;
+  tier4_perception_msgs::msg::TrafficLight signal;
 };
 
 struct FusionRecordArr
 {
   std_msgs::msg::Header header;
   sensor_msgs::msg::CameraInfo cam_info;
   tier4_perception_msgs::msg::TrafficLightRoiArray rois;
-  tier4_perception_msgs::msg::TrafficSignalArray signals;
+  tier4_perception_msgs::msg::TrafficLightArray signals;
 };
 
 bool operator<(const FusionRecordArr & r1, const FusionRecordArr & r2)
@@ -67,8 +67,8 @@ class MultiCameraFusion : public rclcpp::Node
 public:
   typedef sensor_msgs::msg::CameraInfo CamInfoType;
   typedef tier4_perception_msgs::msg::TrafficLightRoi RoiType;
-  typedef tier4_perception_msgs::msg::TrafficSignal SignalType;
-  typedef tier4_perception_msgs::msg::TrafficSignalArray SignalArrayType;
+  typedef tier4_perception_msgs::msg::TrafficLight SignalType;
+  typedef tier4_perception_msgs::msg::TrafficLightArray SignalArrayType;
   typedef tier4_perception_msgs::msg::TrafficLightRoiArray RoiArrayType;
   typedef tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type IdType;
   typedef autoware_perception_msgs::msg::TrafficSignal NewSignalType;

perception/traffic_light_multi_camera_fusion/src/node.cpp

@@ -25,7 +25,7 @@
 namespace
 {
 
-bool isUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal)
+bool isUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
 {
   return signal.elements.size() == 1 &&
          signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&

perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp

@@ -24,8 +24,8 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
 
 #include <image_geometry/pinhole_camera_model.h>
 #include <message_filters/subscriber.h>
@@ -69,7 +69,7 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
    *
    */
   void syncCallback(
-    const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr in_signal_msg,
+    const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr in_signal_msg,
     const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg,
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr in_cam_info_msg,
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr in_cloud_msg,
@@ -80,7 +80,7 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
    * @brief publishers
    *
    */
-  rclcpp::Publisher<tier4_perception_msgs::msg::TrafficSignalArray>::SharedPtr signal_pub_;
+  rclcpp::Publisher<tier4_perception_msgs::msg::TrafficLightArray>::SharedPtr signal_pub_;
 
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
@@ -92,17 +92,16 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
    */
   std::shared_ptr<CloudOcclusionPredictor> cloud_occlusion_predictor_;
   typedef perception_utils::PrimeSynchronizer<
-    tier4_perception_msgs::msg::TrafficSignalArray,
-    tier4_perception_msgs::msg::TrafficLightRoiArray, sensor_msgs::msg::CameraInfo,
-    sensor_msgs::msg::PointCloud2>
+    tier4_perception_msgs::msg::TrafficLightArray, tier4_perception_msgs::msg::TrafficLightRoiArray,
+    sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2>
     SynchronizerType;
 
   std::shared_ptr<SynchronizerType> synchronizer_;
   std::shared_ptr<SynchronizerType> synchronizer_ped_;
 
   std::vector<bool> subscribed_;
   std::vector<int> occlusion_ratios_;
-  tier4_perception_msgs::msg::TrafficSignalArray out_msg_;
+  tier4_perception_msgs::msg::TrafficLightArray out_msg_;
 };
 }  // namespace traffic_light
 #endif  // TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_