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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_visualization package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Tao Zhong
- Masato Saeki
Authors
No additional authors.
autoware_traffic_light_visualization
Purpose
The autoware_traffic_light_visualization is a package that includes two visualizing nodes:
- traffic_light_map_visualizer is a node that shows traffic lights color status and position on rviz as markers.
- traffic_light_roi_visualizer is a node that draws the result of traffic light recognition nodes (traffic light status, position and classification probability) on the input image as shown in the following figure and publishes it.
Inner-workings / Algorithms
Inputs / Outputs
traffic_light_map_visualizer
Input
| Name | Type | Description |
|---|---|---|
~/input/tl_state |
tier4_perception_msgs::msg::TrafficLightGroupArray |
status of traffic lights |
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin |
vector map |
Output
| Name | Type | Description |
|---|---|---|
~/output/traffic_light |
visualization_msgs::msg::MarkerArray |
marker array that indicates status of traffic lights |
traffic_light_roi_visualizer
Input
| Name | Type | Description |
|---|---|---|
~/input/tl_state |
tier4_perception_msgs::msg::TrafficLightArray |
status of traffic lights |
~/input/image |
sensor_msgs::msg::Image |
the image captured by perception cameras |
~/input/rois |
tier4_perception_msgs::msg::TrafficLightRoiArray |
the ROIs detected by traffic_light_fine_detector
|
~/input/rough/rois (option) |
tier4_perception_msgs::msg::TrafficLightRoiArray |
the ROIs detected by traffic_light_map_based_detector
|
Output
| Name | Type | Description |
|---|---|---|
~/output/image |
sensor_msgs::msg::Image |
output image with ROIs |
Parameters
traffic_light_map_visualizer
None
traffic_light_roi_visualizer
Node Parameters
{{json_to_markdown(“perception/autoware_traffic_light_visualization/schema/traffic_light_visualization.schema.json”)}}
Assumptions / Known limits
(Optional) Error detection and handling
(Optional) Performance characterization
(Optional) References/External links
(Optional) Future extensions / Unimplemented parts
CHANGELOG
Changelog for package autoware_traffic_light_visualization
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>>
- Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(tier4_perception_launch): add option for new TL detector
model
(#9731)
* feat: add traffic_light_detector launch fix: tier4 perception
launch fix: add multi tlr detector launch fix: tier4 launch fix: tl
detector launch fix: data director fix: precision int8 chore: revert
to fp16 feat: remove occlusion and add car ped classification merger
fix: launch for multi camera chore: pre-commit fix: update matching
score feat: add max_iou_threshold feat: add occlusion unknown
classifier
- fix: tl detector launch
- refactor: traffic_light_launch.xml
- fix: remove tl fine detector
- fix: refactor
- chore: pre-commit
- fix: cspelling check
- fix: error after rename package
- fix: default tl model name
- fix: new tlr for multi cameras
- modify args
- style(pre-commit): autofix
- refactor
- add category_merger to container
- fix args
* run pre-commit ---------Co-authored-by: Masato Saeki <<78376491+MasatoSaeki@users.noreply.github.com>> Co-authored-by: MasatoSaeki <<masato.saeki@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, badai nguyen
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
- fix(autoware_traffic_light_visualization): fix bugprone-branch-clone (#9668) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
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)
- fix(traffic_light_roi_visualizer): show unknown results correctly (#9467) fix: show unknown results correctly
- 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)
- chore(autoware_traffic_light_visualization): include opencv as system (#9331)
- 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, Tao Zhong, 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
- fix(docs): fix documentation for traffic light visualization (#8303) fix docs traffic light visualization
- fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (#8428) fix(autoware_traffic_light_visualization): fix vialization to draw correct shapes Co-authored-by: Yi-Hsiang Fang (Vivid) <<146902905+vividf@users.noreply.github.com>>
- fix(traffic_light_visualization): fix funcArgNamesDifferent (#8156) fix:funcArgNamesDifferent
- fix(traffic_light_visualizer): remove cerr temporarily to avoid
flooding logs
(#8294)
- fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs
- fix precommit
* fix
- fix(autoware_traffic_light_visualization): fix passedByValue (#8241) fix:passedByValue
-
feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (#8157) * apply new parameter schemes, set default parameters add an option to use normal publisher instead of image tranport in traffic light roi visualizer * small fix on default value ---------
- 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: Kotaro Uetake, Taekjin LEE, Yutaka Kondo, Yuxuan Liu, kminoda, kobayu858
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_roi_visualizer.launch.xml
-
- input/image [default: /camera/image_raw]
- input/rois [default: ~/input/rois]
- input/rough/rois [default: ~/rough/rois]
- input/traffic_signals [default: ~/input/traffic_signals]
- output/image [default: ~/debug/rois]
- use_high_accuracy_detection [default: true]
- use_image_transport [default: true]
- launch/traffic_light_map_visualizer.launch.xml
-
- input/tl_state [default: traffic_signals]
- input/vector_map [default: /map/vector_map]
- output/traffic_light [default: traffic_signals/markers]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_traffic_light_visualization at Robotics Stack Exchange
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