trafficlight_recognizer

This package contains tools and nodes that are related to traffic light recognition.

feat_proj

feat_proj_lanelet2

Feature

This node projects traffic light in Lanelet2 map into camera image. Projected information is assumed be used in traffic light recognition nodes (region_tlr_* nodes).

Map Requirements

Your Lanelet2 map should contain traffic light regulatory elements to use this feature.

Ideally, traffic light regulatory element should have optional light_bulbs members as explained in “Format Extension for Autoware” in order to project accurate position of each lamp. If light_bulbs member is not present(e.g. if you are using default lanelet2 format), this node will assume that lamps are at each corner of traffic light. This allows the following traffic recognition nodes to calculate bounding box of traffic light in the image. In case you do not have light_bulbs defined in your map, you can only use either region_tlr_mxnet or region_tlr_ssd for color recognition, not region_tlr

How to Run

Using rosrun:

rosrun trafficlight_recognizer feat_proj_lanelet2

Using roslaunch:

roslaunch trafficlight_recognizer feat_proj_lanelet2.launch

parameters

subscribed topics

published topics

required tf

map->camera

label_maker

region_tlr

region_tlr_mxnet

region_tlr_ssd

tl_switch

tlr_tuner

Changelog for package trafficlight_recognizer

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Fix Roi/ROI naming convention
• Fix Tlr/TLR naming convention
• Fix Ros/ROS naming convention
• Fix Ssd/SSD naming convention
• Contributors: Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• [fix] PascalCase messages (#1408)
  • Switch message files to pascal case
  • Switch message names to pascal case in Runtime Manager
  • Switch message names to pascal case in *.yaml
  • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
• Contributors: Esteve Fernandez

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Feature] Cross compile Autoware for aarch64 (#1375)
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• [Fix] rename packages (#1269)
  • rename lidar_tracker
  • Modify pf_lidar_track's cmake file
  • Refactor code
  • Rename from euclidean_lidar_tracker to lidar_euclidean_track
  • Rename from kf_contour_track to lidar_kf_contour_track
  • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
  • Rename from pf_lidar_tarck to lidar_pf_track
  • Rename range_fusion
  • Rename obj_reproj
  • Rename euclidean_cluster to lidar_euclidean_cluster_detect
  • Rename svm_lidar_detect to lidar_svm_detect
  • Rename kf_lidar_track to lidar_kf_track
  • Change version 1.6.3 to 1.7.0 in pacakge.xml
  • Modify CMake so that extrenal header would be loaded
  • Remove obj_reproj from cv_tracker
  • Add interface.yaml
  • Rename road_wizard to trafficlight_recognizer
  • create common directory
  • Add lidar_imm_ukf_pda_track
  • create vision_detector and moved cv
  • Modify interface.yaml and package.xml
  • remove dpm_ocv
  • moved directory
  • Delete unnecessary launch file
  • Delete rcnn related file and code
  • separated dummy_track from cv_tracker
  • separated klt_track from cv_tracker
  • Fix a cmake
  • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
  • Rename image_segmenter to vision_segment_enet_detect
  • Remove unnecessary dependency of lidar_svm_detect package
  • separated kf_track and fix a some compiling issue
  • move viewers
  • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
  • Remove unnecessary dependency of lidar_euclidean_track
  • moved image lib
  • add launch
  • lib move under lidar_tracker
  • Rename dpm_ttic to vision_dpm_ttic_detect
  • rename yolo3detector to vision_yolo3_detect
  • Modify cmake and package.xml in vision_dpm_ttic_detect
  • moved sourcefiles into nodes dir
  • moved sourcefiles into nodes dir
  • Move cv_tracker/data folder and delete cv_tracker/model folder
  • fix a package file and cmake
  • Rename yolo2 -> vision_yolo2_detect
  • fix a package file and cmake
  • Fix package name of launch file
  • Rename ssd to vision_ssd_detect
  • fixed cmake and package for decerese dependencies
  • remove top packages dir for detection
  • fixed cmake for cuda
  • Rename lane_detector to vision_lane_detect
  • Modify package.xml in lidar-related packages
  • Remove unnecessary dependencies in lidar_detector and lidar_tracker
  • Modify computing.yaml for dpm_ttic
  • Modify dpm_ttic launch file
  • Remove/Add dependencies to trafficlight_recognizer
  • Update data folder in dpm_ttic
  • Modified CMake and package file in dpm_ttic.
  • Remove src dir in imm_ukf_pda_track
  • removed unnecessary comments
  • rename lidar_tracker
  • Modify pf_lidar_track's cmake file
  • Refactor code
  • Rename from euclidean_lidar_tracker to lidar_euclidean_track
  • Rename from kf_contour_track to lidar_kf_contour_track
  • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
  • Rename from pf_lidar_tarck to lidar_pf_track
  • Rename range_fusion
  • Rename obj_reproj
  • Rename road_wizard to trafficlight_recognizer
  • Rename euclidean_cluster to lidar_euclidean_cluster_detect
  • Rename svm_lidar_detect to lidar_svm_detect
  • Rename kf_lidar_track to lidar_kf_track
  • Change version 1.6.3 to 1.7.0 in pacakge.xml
  • Modify CMake so that extrenal header would be loaded
  • Remove obj_reproj from cv_tracker
  • Add interface.yaml
  • create common directory
  • Add lidar_imm_ukf_pda_track
  • create vision_detector and moved cv
  • Modify interface.yaml and package.xml
  • remove dpm_ocv
  • moved directory
  • Delete unnecessary launch file
  • Delete rcnn related file and code
  • separated dummy_track from cv_tracker
  • separated klt_track from cv_tracker
  • Fix a cmake
  • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
  • Rename image_segmenter to vision_segment_enet_detect
  • Remove unnecessary dependency of lidar_svm_detect package
  • separated kf_track and fix a some compiling issue
  • move viewers
  • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
  • Remove unnecessary dependency of lidar_euclidean_track
  • moved image lib
  • add launch
  • lib move under lidar_tracker
  • Rename dpm_ttic to vision_dpm_ttic_detect
  • rename yolo3detector to vision_yolo3_detect
  • Modify cmake and package.xml in vision_dpm_ttic_detect
  • moved sourcefiles into nodes dir
  • moved sourcefiles into nodes dir
  • Move cv_tracker/data folder and delete cv_tracker/model folder
  • fix a package file and cmake
  • Rename yolo2 -> vision_yolo2_detect
  • fix a package file and cmake
  • Fix package name of launch file
  • Rename ssd to vision_ssd_detect
  • fixed cmake and package for decerese dependencies
  • remove top packages dir for detection
  • fixed cmake for cuda
  • Rename lane_detector to vision_lane_detect
  • Modify package.xml in lidar-related packages
  • Remove unnecessary dependencies in lidar_detector and lidar_tracker
  • Modify computing.yaml for dpm_ttic
  • Modify dpm_ttic launch file
  • Remove/Add dependencies to trafficlight_recognizer
  • Update data folder in dpm_ttic
  • Modified CMake and package file in dpm_ttic.
  • Remove src dir in imm_ukf_pda_track
  • Fix bug for not starting run time manager
  • Remove invalid dependency
• Contributors: Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Changed ROS_INFO output destination to log
• Prepare release for 1.6.0
• use qt5_wrap_ui instead of autouic
• Changed the publishing time of all the signals
• Added support to publish result of multiple traffic signals according to the lane VectorMapServer Support to publish signals on current lane if current_pose and final_waypoints available
• Initial modifications to feat_proj, tlr, context and vector_map loader, server and client to support different types of traffic signals
• Support for multi cameras in feat_proj node (#930) [fix] feat_proj node multi cam support
• refactor CMakeLists.txt. use automoc, autouic and autorcc
• Contributors: AMC, Abraham Monrroy, Yamato ANDO, Yusuke FUJII

1.5.1 (2017-09-25)

• Release/1.5.1 (#816)
  • fix a build error by gcc version
  • fix build error for older indigo version
  • update changelog for v1.5.1
  • 1.5.1
• Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

• Update changelog
• fixed cmake and package.xml for libvectormap moved headers into include/libvectormap since otherwise this otherwise can conflict with other files elsewhere.
• Contributors: Dejan Pangercic, Yusuke FUJII

1.4.0 (2017-08-04)

• version number must equal current release number so we can start releasing in the future
• added changelogs
• Change specifing each msg to catkin_EXPORTED_TARGETS
• R.I.P.
• Contributors: Dejan Pangercic, Yusuke FUJII

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

• fix build issues due to autoware_msgs
• Add link of trained data for tlr
• fix to free a NULL window
• Enable building nodes on the kinetic setup -road_wizard -klt_tracker
• Add README for region_tlr_ssd
• Fix for latest specification
• Prepare for merge
  • Fix assumed SSD path in CMakeLists.txt
  • Change default path of trained model into package-internal directory
  • Remove [std::cerr]{.title-ref} statements for debug
  • Add UI to boot [traffic_light_recognition_ssd.launch]{.title-ref} from runtime-manager
• Update state_transition_matrix
• Fix bug of vector_map_server usage
• Re-implement filter of signal orientation Target traffic light should face to camera. In this modification, target light will be chosen if it faces to camera +- 50 degree in camera coordinate system
• Apply vector_map_server function
• Fix usage of std::string::substr
• Modify State Transition Matrix of TLR for more precise recognition
  • w.r.t [region_tlr]{.title-ref}, just fixed comment
  • w.r.t [region_tlr_ssd]{.title-ref}, applied manner of erring on the side of caution
• Add region_tlr_ssd
• Add roi_extractor.launch to make handling parameter easy And fixed small bug to get parameter from ROS private parameter server
• Add image size section into annotation xml to fit VOC style
• Add filter not to save similar images
• Modify output format in VOC data one
  • Change the directory structure
  • Output each annotation file separately in XML format
  • Add position coordinate of traffic light in a image into annotation
• Add base function of label_maker This version outputs label data into one CSV file. Label data only contains file name and its traffic light states. We need improve output data label format to apply RCNN easily.
• Add roi_extractor node
• Move context-regarding files as package header and library
• Extract context operations as class method for future shared-use
• convert to autoware_msgs
• Contributors: Manato Hirabayashi, YamatoAndo, Yusuke FUJII

1.2.0 (2017-06-07)

• Fixed compatibility issues with indigo
• fix circular-dependency
• ROS Kinectic Upgrade tested on Ubuntu 16.04 and OpenCV 3.2.0 Modules not included: -orb_localizer -dpm_ocv node and lib Everything else working Added some libraries for Gazebo on src/extras
• Update for kinetic
• Contributors: Shohei Fujii, Yukihiro Saito, Yusuke FUJII, amc-nu

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

• Fix codes to use map_file messages and old vector_map_info topics
• Publish the detection result when it is different from the previous one
• Modify region_tlr so that it publishes superimpose image as topic Superimpose result image is now available as topic named "/tlr_superimpose_image"
• Uncomment publish statement of region_tlr Now region_tlr node publishes "light_color" topic as traffic light recognition result which is subscribed by traffic_light_viewer
• Runtime Manager, update feat_proj for SIGINT termination
• Uncomment publish statement of region_tlr Now region_tlr node publishes "light_color" topic as traffic light recognition result which is subscribed by traffic_light_viewer
• Add module graph tool
• Modify to get camera ID from runtime manager * Make it possible to obtain camera ID in each node to subscribe topics under camera name space selectively
  • Get image size from sensor_msgs::Image instead of CameraInfo
• Eigen3 with Fallback on ros-catkin-modules
• Change frame ID according to used camera
• Modify launch files to specify source camera
• Add condition to ignore signals not for cars
• Add ifdef to control showing debug information
• Make camera_info source selectable I modified nodes that subscribe /camera/camera_info so that we can specify the topic name from launch file
• Make image source selectable from launch file In order to use multiple camera, I modified
  • all viewers
  • some cv_tracker's packages and a library
  • lane_detector package

  - some road_wizard package so that input image topic can be changed easily from launch file

• Remove sound player execution from traffic_light_recognition.launch
• Clean up Qt5 configuration Use pkg-config as possible instead of absolute pathes.
• Use c++11 option instead of c++0x We can use newer compilers which support 'c++11' option
• Update region_tlr - Add area-size condition to remove false detection caused by background in ROI - Update STATE_TRANSITION_MATRIX so that state will be UNDEFINED if impossible state change happens
  • minor fix
• Update threshold Increased threshold value with regard to update state of detected traffic light color
• Fix traffic_light_detection I modified traffic_light_detection so that fragmented signal lamps are assembled in a context by its poleID
• Modified region_tlr so that we can switch displaying image of superimpose result And this commit achieves
  • resizable image window showing superimpose result,
  • making close button on the window usable
• Modified feat_proj so that we can adjust projection error from runtime manger
• Initial commit for public release
• Contributors: Jit Ray Chowdhury, Manato Hirabayashi, Shinpei Kato, Syohei YOSHIDA, TomohitoAndo, USUDA Hisashi, kondoh, syouji