perception-traffic-light-region-proposal

Introduction

This module is used to query positioning and map signal light information, select a camera for detecting traffic lights according to the projection of the signal light on the image plane, and finally save the camera selection result.

Directory Structure

├── traffic_light_region_proposal // trafficlight region proposal module
    ├── conf            // module configuration files
    ├── dag             // dag files
    ├── interface       // function interface folder
    ├── launch          // launch files
    ├── preprocessor    // main part for preprocess
    ├── proto           // proto files
    ├── traffic_light_region_proposal_component.cc // component interface
    ├── traffic_light_region_proposal_component.h
    ├── cyberfile.xml   // package management profile
    ├── README.md
    └── BUILD

Modules

TrafficLightsPerceptionComponent

apollo::perception::onboard::TrafficLightsPerceptionComponent

Input

Name	Type	Description	Input channal
`msg`	`apollo::drivers::Image`	camera sensor image	/apollo/sensor/camera/front_6mm/image
/apollo/sensor/camera/front_6mm/image
`hd-map`	`apollo::perception::map::HDMapInput`	HD map	-

Note: Image data from driver. The default trigger channel include /apollo/sensor/camera/front_6mm/image and /apollo/sensor/camera/front_12mm/image. The detailed input channel information is in modules/perception/traffic_light_region_proposal/conf/traffic_light_region_proposal_config.pb.txt file.

Output

Name	Type	Description	Output channal
`frame`	`apollo::perception::onboard::TrafficDetectMessage`	trafficlight message	/perception/inner/Detection

Note: The output channel is structure type data. The message is defined in the modules/perception/common/onboard/inner_component_messages/traffic_inner_component_messages.h file. The output channel message data can be subscribed by components in the same process.

How to Launch

bash

cyber_launch start modules/perception/traffic_light_region_proposal/launch/traffic_light_region_proposal.launch