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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
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 traffic_light_map_based_detector package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
Authors
No additional authors.
The traffic_light_map_based_detector
Package
Overview
traffic_light_map_based_detector
calculates where the traffic lights will appear in the image based on the HD map.
Calibration and vibration errors can be entered as parameters, and the size of the detected RegionOfInterest will change according to the error.
If the node receives route information, it only looks at traffic lights on that route. If the node receives no route information, it looks at a radius of 200 meters and the angle between the traffic light and the camera is less than 40 degrees.
Input topics
Name | Type | Description |
---|---|---|
~input/vector_map |
autoware_auto_mapping_msgs::HADMapBin | vector map |
~input/camera_info |
sensor_msgs::CameraInfo | target camera parameter |
~input/route |
autoware_planning_msgs::LaneletRoute | optional: route |
Output topics
Name | Type | Description |
---|---|---|
~output/rois |
tier4_perception_msgs::TrafficLightRoiArray | location of traffic lights in image corresponding to the camera info |
~expect/rois |
tier4_perception_msgs::TrafficLightRoiArray | location of traffic lights in image without any offset |
~debug/markers |
visualization_msgs::MarkerArray | visualization to debug |
Node parameters
Parameter | Type | Description |
---|---|---|
max_vibration_pitch |
double | Maximum error in pitch direction. If -5~+5, it will be 10. |
max_vibration_yaw |
double | Maximum error in yaw direction. If -5~+5, it will be 10. |
max_vibration_height |
double | Maximum error in height direction. If -5~+5, it will be 10. |
max_vibration_width |
double | Maximum error in width direction. If -5~+5, it will be 10. |
max_vibration_depth |
double | Maximum error in depth direction. If -5~+5, it will be 10. |
max_detection_range |
double | Maximum detection range in meters. Must be positive |
min_timestamp_offset |
double | Minimum timestamp offset when searching for corresponding tf |
max_timestamp_offset |
double | Maximum timestamp offset when searching for corresponding tf |
timestamp_sample_len |
double | sampling length between min_timestamp_offset and max_timestamp_offset |
CHANGELOG
No CHANGELOG found.
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
Launch files
- launch/traffic_light_map_based_detector.launch.xml
-
- input/vector_map [default: /map/vector_map]
- input/camera_info [default: /camera/camera_info]
- input/route [default: /planning/mission_planning/route]
- expect/rois [default: ~/expect/rois]
- output/rois [default: ~/output/rois]
- output/camera_info [default: ~/camera_info]
- min_timestamp_offset [default: 0.0]
- max_timestamp_offset [default: 0.0]
- timestamp_sample_len [default: 0.02]
- param_path [default: $(find-pkg-share traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged traffic_light_map_based_detector at Robotics Stack Exchange
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