README

目录

• perception-traffic-light-detection
  • Introduction
  • Directory Structure
  • Modules
    • TrafficLightDetectComponent
      • Input
      • Output
      • How to Launch
  • 文档意见反馈

perception-traffic-light-detection

Introduction

After the previous projection in the preprocessing stage, a projection frame is obtained on the picture, but the obtained projection frame is not completely reliable, so a larger region of interest (Region of Interest ROI) to be calculated by the projected signal light position is used. to determine the exact bounding box of the semaphore. Signal light detection (detect) is a conventional convolutional neural network detection task, which receives images with ROI information as input data and sequentially outputs bounding boxes.

Directory Structure

├── traffic_light_detection // trafficlight detection module
    ├── conf            // module configuration files
    ├── dag             // dag files
    ├── data            // model params
    ├── detection       // main part for detect
    ├── interface       // function interface folder
    ├── launch          // launch files
    ├── proto           // proto files
    ├── traffic_light_detection_component.cc // component interface
    ├── traffic_light_detection_component.h
    ├── cyberfile.xml   // package management profile
    ├── README.md
    └── BUILD

Modules

TrafficLightDetectComponent

apollo::perception::onboard::TrafficLightDetectComponent

Input

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

>Note: The input channel is structure type data. The default trigger channel is /perception/inner/Detection. The detailed input channel information is in modules/perception/traffic_light_detection/dag/traffic_light_detection.dag file. By default, the upstream components of the messages received by the component include traffic_light_region_proposal.

Output

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

>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. The detailed output channel information is in modules/perception/traffic_light_detection/conf/traffic_light_detection_config.pb.txt file.

How to Launch

cyber_launch start modules/perception/traffic_light_detection/launch/traffic_light_detection.launch

文档意见反馈

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