ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tao Zhong
- Yoshi Ri
- Shintaro Tomie
- Masato Saeki
Authors
autoware_traffic_light_fine_detector
Purpose
It is a package for traffic light detection using YOLOX-s.
Training Information
Pretrained Model
The model is based on YOLOX and the pretrained model could be downloaded from here.
Training Data
The model was fine-tuned on around 17,000 TIER IV internal images of Japanese traffic lights.
Trained Onnx model
You can download the ONNX file using these instructions.
Please visit autoware-documentation for more information.
Inner-workings / Algorithms
Based on the camera image and the global ROI array detected by map_based_detector node, a CNN-based detection method enables highly accurate traffic light detection. If can not detect traffic light, x_offset, y_offset, height and width of output ROI become 0.
ROIs detected from YOLOX will be selected by a combination of expect/rois. At this time, evaluate the whole as ROIs, not just the ROI alone.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/image |
sensor_msgs::msg::Image |
The full size camera image |
~/input/rois |
tier4_perception_msgs::msg::TrafficLightRoiArray |
The array of ROIs detected by map_based_detector |
~/expect/rois |
tier4_perception_msgs::msg::TrafficLightRoiArray |
The array of ROIs detected by map_based_detector without any offset, used to select the best detection results |
Output
| Name | Type | Description |
|---|---|---|
~/output/rois |
tier4_perception_msgs::msg::TrafficLightRoiArray |
The detected accurate rois |
~/debug/exe_time_ms |
autoware_internal_debug_msgs::msg::Float32Stamped |
The time taken for inference |
Parameters
| {{ json_to_markdown(“perception/autoware_traffic_light_fine_detector/schema/traffic_light_fine_detector.schema.json”) }} |
Assumptions / Known limits
Reference repositories
YOLOX github repository
Changelog for package autoware_traffic_light_fine_detector
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- chore(perception): refactor perception launch
(#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: refine maintainer list
(#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
- feat(autoware_traffic_light_fine_detector): created the schema
file,updated the readme file and deleted the default parameter in
node files code
(#10106)
- feat(autoware_traffic_light_fine_detector): Created the schema file, updated the readme file and deleted the default parameter in node files code
- style(pre-commit): autofix
- fix declare_parameter
- chore
- change launch file
- change type
- style(pre-commit): autofix
- fix definition name
* run build ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: MasatoSaeki <<masato.saeki@tier4.jp>>
- Contributors: Fumiya Watanabe, Shunsuke Miura, Vishal Chauhan
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(traffic_light_fine_detector)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in traffic_light_fine_detector (#9900)
- chore(autoware_traffic_light_fine_detector): modify docs and
related params
(#9818)
- modify readme and related params
- fix typo
* fix
- refactor(autoware_tensorrt_common): multi-TensorRT compatibility &
tensorrt_common as unified lib for all perception components
(#9762)
- refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components
- style(pre-commit): autofix
- style(autoware_tensorrt_common): linting
* style(autoware_lidar_centerpoint): typo Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>> * docs(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
- fix(autoware_lidar_transfusion): reuse cast variable
- fix(autoware_tensorrt_common): remove deprecated inference API
* style(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>> * style(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
- fix(autoware_tensorrt_common): const pointer
- fix(autoware_tensorrt_common): remove unused method declaration
- style(pre-commit): autofix
* refactor(autoware_tensorrt_common): readability Co-authored-by: Kotaro Uetake <<60615504+ktro2828@users.noreply.github.com>>
- fix(autoware_tensorrt_common): return if layer not registered
* refactor(autoware_tensorrt_common): readability Co-authored-by: Kotaro Uetake <<60615504+ktro2828@users.noreply.github.com>>
- fix(autoware_tensorrt_common): rename struct
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>> Co-authored-by: Kotaro Uetake <<60615504+ktro2828@users.noreply.github.com>>
- Contributors: Amadeusz Szymko, Fumiya Watanabe, Masato Saeki, Vishal Chauhan
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - perception (#9569)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(autoware_traffic_light*): add maintainer
(#9280)
- add fundamental commit
* add forgot package ---------
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(autoware_traffic_light*): add maintainer
(#9280)
- add fundamental commit
* add forgot package ---------
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(tensorrt_common)!: fix namespace, directory structure &
move to perception namespace
(#9099)
- refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace
- refactor(tensorrt_common): directory structure
- style(pre-commit): autofix
* fix(tensorrt_common): correct package name for logging ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
feat(autoware_tensorrt_yolox): add GPU - CUDA device option (#8245) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- fix(autoware_traffic_light_fine_detector): fix unusedFunction (#8583) fix:unusedFunction
- fix(autoware_traffic_light_fine_detector): fix passedByValue (#8237) fix:passedByValue
- fix(traffic_light_fine_detector): fix funcArgNamesDifferent (#8154) fix:funcArgNamesDifferent
- fix(autoware_traffic_light_fine_detector): fix
constParameterReference
(#8146)
- fix:constParameterReference
- fix:constParameterReference
* fix:constParameterReference ---------
- refactor(tensorrt_yolox)!: fix namespace and directory structure
(#7992)
- refactor: add autoware namespace prefix to [tensorrt_yolox]{.title-ref}
- refactor: apply [autoware]{.title-ref} namespace to tensorrt_yolox
- chore: update CODEOWNERS
* fix: resolve [yolox_tiny]{.title-ref} to work ---------
- refactor(traffic_light_*)!: add package name prefix of autoware_
(#8159)
- chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector
- chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion
- chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor
- chore: rename traffic_light_classifier to autoware_traffic_light_classifier
- chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector
* chore: rename traffic_light_visualization to autoware_traffic_light_visualization ---------
- Contributors: Amadeusz Szymko, Ismet Atabay, Kotaro Uetake, Taekjin LEE, Yutaka Kondo, kobayu858
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| tier4_perception_launch |
Launch files
- launch/traffic_light_fine_detector.launch.xml
-
- data_path [default: $(env HOME)/autoware_data]
- input/image [default: /image_raw]
- input/rois [default: /traffic_light_map_based_detector/output/rois]
- expect/rois [default: ~/expect/rois]
- output/rois [default: ~/output/rois]
- param_path [default: $(find-pkg-share autoware_traffic_light_fine_detector)/config/traffic_light_fine_detector.param.yaml]
- model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
- label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
- build_only [default: false]