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trafficlight_recognizer package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

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github

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Package Summary

Tags	No category tags.
Version	1.12.0
License	Apache 2
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	autoware.ai perf
Checkout URI	https://github.com/is-whale/autoware_learn.git
VCS Type	git
VCS Version	1.14
Last Updated	2025-03-14
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The trafficlight_recognizer package

Additional Links

No additional links.

Maintainers

Manato HIRABAYASHI

Authors

No additional authors.

autoware/core_perception/trafficlight_recognizer/README.md

trafficlight_recognizer

This package contains tools and nodes that are related to traffic light recognition.

feat_proj

feat_proj_lanelet2

Feature

This node projects traffic light in Lanelet2 map into camera image. Projected information is assumed be used in traffic light recognition nodes (region_tlr_* nodes).

Map Requirements

Your Lanelet2 map should contain traffic light regulatory elements to use this feature.

Ideally, traffic light regulatory element should have optional light_bulbs members as explained in “Format Extension for Autoware” in order to project accurate position of each lamp. If light_bulbs member is not present(e.g. if you are using default lanelet2 format), this node will assume that lamps are at each corner of traffic light. This allows the following traffic recognition nodes to calculate bounding box of traffic light in the image. In case you do not have light_bulbs defined in your map, you can only use either region_tlr_mxnet or region_tlr_ssd for color recognition, not region_tlr

How to Run

Using rosrun:

rosrun trafficlight_recognizer feat_proj_lanelet2

Using roslaunch:

roslaunch trafficlight_recognizer feat_proj_lanelet2.launch

parameters

Parameter	Type	Description	Default
`~/use_path_info`	bool	When this is set `true`, only traffic lights associated to current driving lane are projected. Otherwise, all visible traffic lights are projected.	`false`
`~/camera_frame`	String	Name of optical frame of the camera.	`"camera"`

subscribed topics

topic	type	Description
`/lanelet_map_bin`	lanelet_msgs/MapBin	binary data of lanelet2 map
`/camera_info`	sensor_msgs/CameraInfo	Camera parameters used for projection
`/config/adjust_xy`	autoware_msgs/AdjustXY	This topic sets offsets of projection in image
`/final_waypoints`	autoware_msgs/Lane	path of vehicle. only subscribed when `use_path_info` parameter is set `true`

published topics

topic	type	Description
`/roi_signal`	autoware_msgs/Signals	Contains positions of traffic lights in both map frame and image frame

required tf

map->camera

label_maker

region_tlr

region_tlr_mxnet

region_tlr_ssd

tl_switch

tlr_tuner

CHANGELOG

Changelog for package trafficlight_recognizer

1.11.0 (2019-03-21)

[fix] Install commands for all the packages (#1861)
- Initial fixes to detection, sensing, semantics and utils
- fixing wrong filename on install command
- Fixes to install commands
- Hokuyo fix name
- Fix obj db
- Obj db include fixes
- End of final cleaning sweep
- Incorrect command order in runtime manager
- Param tempfile not required by runtime_manager
- - Fixes to runtime manager install commands
- Remove devel directory from catkin, if any
- Updated launch files for robosense
- Updated robosense
- Fix/add missing install (#1977)
- Added launch install to lidar_kf_contour_track
- Added install to op_global_planner
- Added install to way_planner
- Added install to op_local_planner
- Added install to op_simulation_package
- Added install to op_utilities
- Added install to sync
- - Improved installation script for pointgrey packages
- Fixed nodelet error for gmsl cameras
- USe install space in catkin as well
- add install to catkin
- Fix install directives (#1990)
- Fixed installation path
- Fixed params installation path
- Fixed cfg installation path
- Delete cache on colcon_release
Fix license notice in corresponding package.xml
Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

Fixes for catkin_make
Use colcon as the build tool (#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
Fix Roi/ROI naming convention
Fix Tlr/TLR naming convention
Fix Ros/ROS naming convention
Fix Ssd/SSD naming convention
Contributors: Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

[fix] PascalCase messages (#1408)
- Switch message files to pascal case
- Switch message names to pascal case in Runtime Manager
- Switch message names to pascal case in *.yaml
- Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_build_flags
	catkin
	autoware_msgs
	cmake_modules
	cv_bridge
	geometry_msgs
	libvectormap
	roscpp
	roslint
	sensor_msgs
	std_msgs
	tf
	vector_map
	vector_map_server
	visualization_msgs
	lanelet2_extension

System Dependencies

Name
eigen
qtbase5-dev

Dependant Packages

No known dependants.

Launch files

launch/feat_proj.launch
- - camera_id [default: /]
  - camera_info_src [default: /camera_info]
  - use_path_info [default: false]
  - roi_search_min_distance [default: 1.0]
  - roi_search_max_distance [default: 200.0]
launch/feat_proj_lanelet2.launch
- - camera_id [default: /]
  - camera_info_src [default: /camera_info]
  - use_path_info [default: false]
  - roi_search_min_distance [default: 1.0]
  - roi_search_max_distance [default: 200.0]
launch/feat_proj_option.launch
- - camera_id [default: /]
  - camera_info_src [default: /camera_info]
  - use_path_info [default: false]
  - use_ll2 [default: false]
  - roi_search_min_distance [default: 1.0]
  - roi_search_max_distance [default: 200.0]
launch/roi_extractor.launch
- - image_raw_topic [default: /image_raw]
  - target_directory [default: $(env HOME)/.autoware]
  - minimum_height [default: 32]
  - similarity_threshold [default: 0.9]
launch/traffic_light_recognition.launch
- - camera_id [default: /]
  - image_src [default: /image_raw]
  - light_src [default: /light_color]
  - camera_light_src [default: /camera_light_color]
  - ams_light_src [default: /ams_light_color]
launch/traffic_light_recognition_mxnet.launch
- - camera_id [default: /]
  - image_src [default: /image_raw]
  - network_definition_file [default: /tmp/mxnet-network.json]
  - pretrained_model_file [default: /tmp/mxnet-network.params]
  - use_gpu [default: true]
  - gpu_device_id [default: 0]
  - score_threshold [default: 0.8]
  - change_state_threshold [default: 2]
launch/traffic_light_recognition_ssd.launch
- - camera_id [default: /]
  - image_src [default: /image_raw]
  - network_definition_file [default: $(find trafficlight_recognizer)/data/deploy.prototxt]
  - pretrained_model_file [default: $(find trafficlight_recognizer)/data/Autoware_tlr_SSD_300x300_iter_60000.caffemodel]
  - use_gpu [default: true]
  - gpu_device_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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