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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
The autoware_traffic_light_occlusion_predictor package
Additional Links
No additional links.
Maintainers
- Tao Zhong
- Masato Saeki
- Yoshi Ri
Authors
No additional authors.
autoware_traffic_light_occlusion_predictor
Overview
autoware_traffic_light_occlusion_predictor receives the detected traffic lights rois and calculates the occlusion ratios of each roi with point cloud.
If that rois is judged as occlusion, color, shape, and confidence of ~/output/traffic_signals become UNKNOWN, UNKNOWN, and 0.0.
This node publishes when each car and pedestrian traffic_signals is arrived and processed.
For each traffic light roi, hundreds of pixels would be selected and projected into the 3D space. Then from the camera point of view, the number of projected pixels that are occluded by the point cloud is counted and used for calculating the occlusion ratio for the roi. As shown in follow image, the red pixels are occluded and the occlusion ratio is the number of red pixels divided by the total pixel numbers.
If no point cloud is received or all point clouds have very large stamp difference with the camera image, the occlusion ratio of each roi would be set as 0.
Input topics
| Name | Type | Description |
|---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/car/traffic_signals |
tier4_perception_msgs::msg::TrafficLightArray | vehicular traffic light signals |
~/input/pedestrian/traffic_signals |
tier4_perception_msgs::msg::TrafficLightArray | pedestrian traffic light signals |
~/input/rois |
tier4_perception_msgs::msg::TrafficLightRoiArray | traffic light detections |
~/input/camera_info |
sensor_msgs::msg::CameraInfo | target camera parameter |
~/input/cloud |
sensor_msgs::msg::PointCloud2 | LiDAR point cloud |
Output topics
| Name | Type | Description |
|---|---|---|
~/output/traffic_signals |
tier4_perception_msgs::msg::TrafficLightArray | traffic light signals which occluded image results overwritten |
Node parameters
{{ json_to_markdown(“perception/autoware_traffic_light_occlusion_predictor/schema/traffic_light_occlusion_predictor.schema.json”) }}
CHANGELOG
Changelog for package autoware_traffic_light_occlusion_predictor
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)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- chore: refine maintainer list
(#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
- chore(traffic_light_occlusion_predictor): created Schema file and
updated ReadME file for parameters setting and deleted default
parameter from the node.cpp file
(#9998)
- feat(traffic_light_occlusion_predictor): Created Schema file and updated ReadME file for parameters setting and deleted default parameter from the node.cpp file
- style(pre-commit): autofix
* feat: modified the json schema and readme file as per comments ---------Co-authored-by: Masato Saeki <<78376491+MasatoSaeki@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, Shunsuke Miura, Vishal Chauhan, 心刚
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_occlusion_predictor): modify docs
(#9820)
- fix docs
* fix docs ---------
- 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)
- refactor(traffic_light_utils): prefix package and namespace with autoware (#9251)
- 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
- fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (#8258) fix: deal with functionStatic warnings
- fix(autoware_traffic_light_occlusion_predictor): fix functionConst (#8286) fix:functionConst
- 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, kobayu858, taisa1
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_occlusion_predictor.launch.xml
-
- input/cloud [default: /sensing/lidar/concatenated/pointcloud]
- input/vector_map [default: /map/vector_map]
- input/camera_info
- input/rois
- input/car/traffic_signals
- input/pedestrian/traffic_signals
- output/traffic_signals
- param_path [default: $(find-pkg-share autoware_traffic_light_occlusion_predictor)/config/traffic_light_occlusion_predictor.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_traffic_light_occlusion_predictor at Robotics Stack Exchange
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