README

目录

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

perception-traffic-light-recognition

Introduction

The purpose of the traffic light recognition module is to recognize the color of the traffic light. This task is completed using a conventional convolutional neural network. The input of the recognition module is an image with ROI information and a set of bounding box information as input data, and the output is a four-dimensional vector. , respectively represent the probability that each bounding box is black, red, yellow and green, if and only if the probability is large enough, the class with the highest probability will be identified as the state of the signal light. Otherwise the semaphore state is set to Unknown, indicating that the state is undetermined.

Directory Structure

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

Modules

TrafficLightRecognComponent

apollo::perception::onboard::TrafficLightRecognComponent

Input

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

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

Output

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

>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_recognition/conf/traffic_light_recognition_config.pb.txt file.

How to Launch

cyber_launch start modules/perception/traffic_light_recognition/launch/traffic_light_recognition.launch

文档意见反馈

如果您在使用文档的过程中，遇到任何问题，请到我们在【开发者社区】建立的 反馈意见收集问答页面，反馈相关的问题。我们会根据反馈意见对文档进行迭代优化。