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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_multi_camera_fusion package
Additional Links
No additional links.
Maintainers
- Tao Zhong
- Shunsuke Miura
Authors
No additional authors.
The traffic_light_multi_camera_fusion
Package
Overview
traffic_light_multi_camera_fusion
performs traffic light signal fusion which can be summarized as the following two tasks:
- Multi-Camera-Fusion: performed on single traffic light signal detected by different cameras.
- Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanelet2 map.
Input topics
For every camera, the following three topics are subscribed:
Name | Type | Description |
---|---|---|
~/<camera_namespace>/camera_info |
sensor_msgs::CameraInfo | camera info from traffic_light_map_based_detector |
~/<camera_namespace>/rois |
tier4_perception_msgs::TrafficLightRoiArray | detection roi from traffic_light_fine_detector |
~/<camera_namespace>/traffic_signals |
tier4_perception_msgs::TrafficLightSignalArray | classification result from traffic_light_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::TrafficLightSignalArray | traffic light signal fusion result |
Node parameters
Parameter | Type | Description |
---|---|---|
camera_namespaces |
vector<string> | Camera Namespaces to be fused |
message_lifespan |
double | The maximum timestamp span to be fused |
approximate_sync |
bool | Whether work in Approximate Synchronization Mode |
perform_group_fusion |
bool | Whether perform Group Fusion |
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
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 traffic_light_multi_camera_fusion)/config/traffic_light_multi_camera_fusion.param.yaml]
- output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged traffic_light_multi_camera_fusion at Robotics Stack Exchange
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