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chore(autoware_traffic_light_map_based_detector): modify docs #9817

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chore(autoware_traffic_light_map_based_detector): modify docs #9817

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64cddcd
modify docs
MasatoSaeki Dec 31, 2024
75c5994
fix title
MasatoSaeki Dec 31, 2024
2c65869
fix docs
MasatoSaeki Dec 31, 2024
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fix word
MasatoSaeki Dec 31, 2024
787e809
add comment about debug markers
MasatoSaeki Jan 10, 2025
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fix docs
MasatoSaeki Jan 10, 2025
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48 changes: 25 additions & 23 deletions perception/autoware_traffic_light_map_based_detector/README.md
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# The `autoware_traffic_light_map_based_detector` Package
# autoware_traffic_light_map_based_detector

## Overview

Expand All @@ -9,34 +9,36 @@ Calibration and vibration errors can be entered as parameters, and the size of t
![traffic_light_map_based_detector_result](./docs/traffic_light_map_based_detector_result.svg)

If the node receives route information, it only looks at traffic lights on that route.
If the node receives no route information, it looks at a radius of 200 meters and the angle between the traffic light and the camera is less than 40 degrees.
If the node receives no route information, it looks at them within a radius of `max_detection_range` and the angle between the traffic light and the camera is less than `car_traffic_light_max_angle_range` or `pedestrian_traffic_light_max_angle_range`.

## Input topics

| Name | Type | Description |
| -------------------- | ------------------------------------- | ----------------------- |
| `~input/vector_map` | autoware_map_msgs::msg::LaneletMapBin | vector map |
| `~input/camera_info` | sensor_msgs::CameraInfo | target camera parameter |
| `~input/route` | autoware_planning_msgs::LaneletRoute | optional: route |
| Name | Type | Description |
| --------------------- | ----------------------------------------- | ----------------------- |
| `~/input/vector_map` | autoware_map_msgs::msg::LaneletMapBin | vector map |
| `~/input/camera_info` | sensor_msgs::msg::CameraInfo | target camera parameter |
| `~/input/route` | autoware_planning_msgs::msg::LaneletRoute | optional: route |

## Output topics

| Name | Type | Description |
| ---------------- | ------------------------------------------- | -------------------------------------------------------------------- |
| `~output/rois` | tier4_perception_msgs::TrafficLightRoiArray | location of traffic lights in image corresponding to the camera info |
| `~expect/rois` | tier4_perception_msgs::TrafficLightRoiArray | location of traffic lights in image without any offset |
| `~debug/markers` | visualization_msgs::MarkerArray | visualization to debug |
| Name | Type | Description |
| ----------------- | ------------------------------------------------ | ------------------------------------------------------------------------- |
| `~/output/rois` | tier4_perception_msgs::msg::TrafficLightRoiArray | location of traffic lights in image corresponding to the camera info |
| `~/expect/rois` | tier4_perception_msgs::msg::TrafficLightRoiArray | location of traffic lights in image without any offset |
| `~/debug/markers` | visualization_msgs::msg::MarkerArray | markers which show a line that combines from camera to each traffic light |

## Node parameters

| Parameter | Type | Description |
| ---------------------- | ------ | --------------------------------------------------------------------- |
| `max_vibration_pitch` | double | Maximum error in pitch direction. If -5~+5, it will be 10. |
| `max_vibration_yaw` | double | Maximum error in yaw direction. If -5~+5, it will be 10. |
| `max_vibration_height` | double | Maximum error in height direction. If -5~+5, it will be 10. |
| `max_vibration_width` | double | Maximum error in width direction. If -5~+5, it will be 10. |
| `max_vibration_depth` | double | Maximum error in depth direction. If -5~+5, it will be 10. |
| `max_detection_range` | double | Maximum detection range in meters. Must be positive |
| `min_timestamp_offset` | double | Minimum timestamp offset when searching for corresponding tf |
| `max_timestamp_offset` | double | Maximum timestamp offset when searching for corresponding tf |
| `timestamp_sample_len` | double | sampling length between min_timestamp_offset and max_timestamp_offset |
| Parameter | Type | Description |
| ------------------------------------------ | ------ | ----------------------------------------------------------------------------------------------- |
| `max_vibration_pitch` | double | Maximum error in pitch direction. If -5~+5, it will be 10. |
| `max_vibration_yaw` | double | Maximum error in yaw direction. If -5~+5, it will be 10. |
| `max_vibration_height` | double | Maximum error in height direction. If -5~+5, it will be 10. |
| `max_vibration_width` | double | Maximum error in width direction. If -5~+5, it will be 10. |
| `max_vibration_depth` | double | Maximum error in depth direction. If -5~+5, it will be 10. |
| `max_detection_range` | double | Maximum detection range in meters. Must be positive. |
| `min_timestamp_offset` | double | Minimum timestamp offset when searching for corresponding tf. |
| `max_timestamp_offset` | double | Maximum timestamp offset when searching for corresponding tf. |
| `timestamp_sample_len` | double | Sampling length between min_timestamp_offset and max_timestamp_offset. |
| `car_traffic_light_max_angle_range` | double | Maximum angle between the vehicular traffic light and the camera in degrees. Must be positive. |
| `pedestrian_traffic_light_max_angle_range` | double | Maximum angle between the pedestrian traffic light and the camera in degrees. Must be positive. |
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