autoware_traffic_light_map_based_detector

Overview

autoware_traffic_light_map_based_detector calculates where the traffic lights will appear in the image based on the HD map.

Calibration and vibration errors can be entered as parameters, and the size of the detected RegionOfInterest will change according to the error.

If the node receives route information, it only looks at traffic lights on that route. If the node receives no route information, it looks at them within a radius of max_detection_range and the angle between the traffic light and the camera is less than car_traffic_light_max_angle_range or pedestrian_traffic_light_max_angle_range.

Input topics

Name	Type	Description
~/input/vector_map	autoware_map_msgs::msg::LaneletMapBin	vector map
~/input/camera_info	sensor_msgs::msg::CameraInfo	target camera parameter
~/input/route	autoware_planning_msgs::msg::LaneletRoute	optional: route

Output topics

Name	Type	Description
~/output/rois	tier4_perception_msgs::msg::TrafficLightRoiArray	location of traffic lights in image corresponding to the camera info
~/expect/rois	tier4_perception_msgs::msg::TrafficLightRoiArray	location of traffic lights in image without any offset
~/debug/markers	visualization_msgs::msg::MarkerArray	markers which show a line that combines from camera to each traffic light

Node parameters

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