Pre-requisites:
- Vector Map
- NDT working
- Calibration publisher
- Tf between camera and localizer
Traffic light recognition is splitted in two parts
1. feat_proj finds the ROIs of the traffic signals in the current camera FOV
2. region_tlr checks each ROI and publishes result, it also publishes /tlr_superimpose_image image with the traffic lights overlayed
2a. region_tlr_ssd deep learning based detector.
Launch Feature Projection
roslaunch road_wizard feat_proj.launch camera_id:=/camera0
Launch HSV classifier
roslaunch road_wizard traffic_light_recognition.launch camera_id:=/camera0 image_src:=/image_XXXX
SSD Classifier
roslaunch road_wizard traffic_light_recognition_ssd.launch camera_id:=/camera0 image_src:=/image_XXXX network_definition_file:=/PATH_TO_NETWORK_DEFINITION/deploy.prototxt pretrained_model_file:=/PATH_TO_MODEL/Autoware_tlr_SSD_.caffemodel use_gpu:=true gpu_device_id:=0