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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The autoware_traffic_light_multi_camera_fusion package
Additional Links
No additional links.
Maintainers
- Tao Zhong
- Masato Saeki
- Yoshi Ri
Authors
No additional authors.
autoware_traffic_light_multi_camera_fusion
Overview
autoware_traffic_light_multi_camera_fusion performs traffic light signal fusion which can be summarized as the following two tasks:
- Multi-Camera-Fusion: fusion each traffic light signal detected by different cameras.
- Group-Fusion: Fusion each traffic light signal within the same group, which means traffic lights share the same regulatory element ID defined in lanelet2 map.
The fusion method is below.
- Use the results of the new timestamp if the results are from the same sensor
- Use the results that are not
elements.size() == 1 && color == UNKNOWN && shape == UNKNOWN - Use the results that each vertex of ROI is not at the edge of the image
- Use the results of high confidence
Input topics
For every camera, the following three topics are subscribed:
| Name | Type | Description |
|---|---|---|
~/<camera_namespace>/camera_info |
sensor_msgs::msg::CameraInfo | camera info from map_based_detector |
~/<camera_namespace>/detection/rois |
tier4_perception_msgs::msg::TrafficLightRoiArray | detection roi from fine_detector |
~/<camera_namespace>/classification/traffic_signals |
tier4_perception_msgs::msg::TrafficLightArray | classification result from classifier |
You don’t need to configure these topics manually. Just provide the camera_namespaces parameter and the node will automatically extract the <camera_namespace> and create the subscribers.
Output topics
| Name | Type | Description |
|---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | traffic light signal fusion result |
Node parameters
{{ json_to_markdown(“perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json”) }}
CHANGELOG
Changelog for package autoware_traffic_light_multi_camera_fusion
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)
- Contributors: Hayato Mizushima, 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 ---------
- chore(traffic_light_multi_camera_fusion): read parameters from
yaml file
(#10144)
- chore(traffic_light_multi_camera_fusion): read parameters from yaml file
- style(pre-commit): autofix
- add all_traffic_light_camera param to launch.xml
- fix json schema
- remove camera namespace parameter from config file
- revert unnecessary change
* remove camera_namespaces from required ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- chore(autoware_traffic_light_multi_camera_fusion): created
Schema file and updated ReadME file for parameters setting
(#9994)
- feat(autoware_traffic_light_multi_camera_fusion): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
- fix: updated param file , schema and node.cpp file for traffic_light_multi_camera_fusion as per review comments
- style(pre-commit): autofix
* Update traffic_light_multi_camera_fusion_node.cpp updated code as per suggestion * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, Shunsuke Miura, Tomohito ANDO, 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
- chore(autoware_traffic_light_multi_camera_fusion): modify docs
(#9821)
- fix docs
* add condition ---------
- Contributors: Fumiya Watanabe, Masato Saeki
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)
- feat(autoware_traffic_light_multi_camera_fusion): resolve
clang-tidy error
(#9336)
- feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error
* add const to argument ---------
- 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, Yukinari Hisaki, 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(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: Taekjin LEE, Yutaka Kondo
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| tier4_perception_launch |
Launch files
- launch/traffic_light_multi_camera_fusion.launch.xml
-
- input/vector_map [default: /map/vector_map]
- param_path [default: $(find-pkg-share autoware_traffic_light_multi_camera_fusion)/config/traffic_light_multi_camera_fusion.param.yaml]
- output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
- camera_namespaces [default: [camera6, camera7]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_traffic_light_multi_camera_fusion at Robotics Stack Exchange
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