Perception: update a condition to output trafficlights (#2125)

* Solve all the related issues to make traffic light run.

Specific issues include: 1. Correct the wrong format in .dag,  parameter, and configuration files. 2. add camara parameter files which are expected from the code.
3. Correct the wrong use of Cyber::SUCC in an algorithm condition in trafficlights_perception_component.cc.

* sync with the latest lib.so name

* output single traffic light result based on voting

* modify the condition to output trafficlights result

modules/perception/onboard/component/trafficlights_perception_component.cc

@@ -783,7 +783,7 @@ bool TrafficLightsPerceptionComponent::TransformOutputMessage(
   if (max_light_id > 0)
     std::swap(lights[0], lights[max_light_id]);
 
-  if (max_light_id > 0) {
+  if (max_light_id >= 0) {
     apollo::perception::TrafficLight *light_result =
           (*out_msg)->add_traffic_light();
     light_result->set_id(lights.at(0)->id);
@@ -968,7 +968,7 @@ void TrafficLightsPerceptionComponent::Visualize(
   }
 
   cv::resize(output_image, output_image, cv::Size(), 0.5, 0.5);
-  cv::imshow("Traffic Lihgt", output_image);
+  cv::imshow("Traffic Light", output_image);
   // cv::imwrite("/apollo/debug_vis/" +
   // std::to_string(frame.timestamp) + ".jpg", output_image);
   cvWaitKey(30);