feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light

[tzhong518]

Description

• The purposes are
  1. to detect traffic lights that are for pedestrians as that are for cars
  2. to cope with the flashing of traffic lights
• Check details in https://tier4.atlassian.net/wiki/spaces/~459732634/pages/2869756582
• Main changes include:
  • adding crosswalk traffic lights into the target list of the map based detector, so that their rough/rois are calculated
  • replacing the detector with the new model which can detect both car and pedestrian traffic light
  • adding a classifier for pedestrian traffic light
  • modifying the occlusion predictor, so that the output of two classifiers can be synchronized
  • modifying the crosswalk estimator, so that the flashing state is considered for the final output. Check description in: https://tier4.atlassian.net/wiki/spaces/~459732634/pages/2933130203#%E3%82%A2%E3%83%AB%E3%82%B4%E3%83%AA%E3%82%BA%E3%83%A0
  • modifying the launch files

Related links

Tests performed

Results: https://tier4.atlassian.net/wiki/spaces/~459732634/pages/2952200606

Please also checkout the related PRs when testing:
tier4/tier4_autoware_msgs#110
autowarefoundation/autoware_launch#752
autowarefoundation/autoware#4087
https://github.com/tier4/jetson_launcher/pull/35

command:
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=~/map/odaiba_pedtlr_edited/ vehicle_model:=jpntaxi sensor_model:=aip_xx1 vehicle_id:=2 map:=true sensing:=false localization:=false perception:=true planning:=false use_external_lane_change:=false control:=false rviz:=true

detector onnx: https://drive.google.com/file/d/1DSBHlWY6RS3wrLLb7K39LXmBwKXvd0zS/view?usp=drive_link
classifier onnx: https://drive.google.com/file/d/1XczUh6wuA7xU_xlwvM9LVLS-v3dXjKqY/view?usp=drive_link
edited map: https://drive.google.com/drive/folders/1jYobyhS_6F03J-60DV7O-YaguXcMaaur?usp=drive_link
tested rosbag: https://drive.google.com/drive/folders/1mylLtw2SBF0JQP03rpBddg8fH_yjhGAK?usp=drive_link
lamp_ped.txt: https://drive.google.com/file/d/1Gn-D0vM9Wf1R3B1kwwrRPpgqJ4O-dniD/view?usp=drive_link (Please put it under traffic_light_classifier/data)

To visualize the final result on the map, please add /perception/traffic_light_recognition/traffic_signals/markers to the Rviz.

Videos based on odaiba rosbag:
https://github.com/autowarefoundation/autoware.universe/assets/55872497/cf33b2dc-29e8-4b0a-a9ed-d5b84bbab48c
https://github.com/autowarefoundation/autoware.universe/assets/55872497/a3daa42d-500e-4a13-bcf6-ae08521000e9
https://github.com/autowarefoundation/autoware.universe/assets/55872497/e7d7e7cf-7919-4009-98bd-6ebf37689ce9
https://github.com/autowarefoundation/autoware.universe/assets/55872497/e73f3b00-f2f4-4cd0-aa69-72b2783556d8

Notes for reviewers

Interface changes

Effects on system behavior

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[yukkysaito]

If possible, could you post a video of the detection results here as well?

[tzhong518]

If possible, could you post a video of the detection results here as well?

Yes, I attached them in the desription.

[yukke42]

LGTM

[miursh]

LGTM!
@tzhong518 Could you fix CI errors?

[codecov]

Codecov Report

Attention: 157 lines in your changes are missing coverage. Please review.

Comparison is base (3b0c254) 15.23% compared to head (7f9c4cc) 15.18%.
Report is 2 commits behind head on main.

Files	Patch %	Lines
...ion/crosswalk_traffic_light_estimator/src/node.cpp	0.00%	75 Missing ⚠️
...tion/traffic_light_map_based_detector/src/node.cpp	0.00%	37 Missing ⚠️
.../traffic_light_occlusion_predictor/src/nodelet.cpp	0.00%	29 Missing ⚠️
...erception/traffic_light_classifier/src/nodelet.cpp	0.00%	8 Missing ⚠️
...eption/traffic_light_fine_detector/src/nodelet.cpp	0.00%	7 Missing ⚠️
...on/traffic_light_utils/src/traffic_light_utils.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5871      +/-   ##
==========================================
- Coverage   15.23%   15.18%   -0.06%     
==========================================
  Files        1750     1754       +4     
  Lines      120710   121165     +455     
  Branches    36740    36740              
==========================================
  Hits        18394    18394              
- Misses      81674    82129     +455     
  Partials    20642    20642              

Flag	Coverage Δ		*Carryforward flag
differential	3.79% <0.00%> (?)
total	15.24% <ø> (+<0.01%)	⬆️	Carriedforward from 3b0c254

*This pull request uses carry forward flags. Click here to find out more.

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[tzhong518]

CI errors are fixed.