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autoware_compare_map_segmentation package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-03
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_compare_map_segmentation package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Akihisa Nagata
Taekjin Lee
Kaan Colak

Authors

Open Perception
Julius Kammerl
William Woodall

perception/autoware_compare_map_segmentation/README.md

autoware_compare_map_segmentation

Purpose

The autoware_compare_map_segmentation is a package that filters the ground points from the input pointcloud by using map info (e.g. pcd, elevation map or split map pointcloud from map_loader interface).

Inner-workings / Algorithms

Compare Elevation Map Filter

Compare the z of the input points with the value of elevation_map. The height difference is calculated by the binary integration of neighboring cells. Remove points whose height difference is below the height_diff_thresh.

Distance Based Compare Map Filter

This filter compares the input pointcloud with the map pointcloud using the nearestKSearch function of kdtree and removes points that are close to the map point cloud. The map pointcloud can be loaded statically at once at the beginning or dynamically as the vehicle moves.

Voxel Based Approximate Compare Map Filter

The filter loads the map point cloud, which can be loaded statically at the beginning or dynamically during vehicle movement, and creates a voxel grid of the map point cloud. The filter uses the getCentroidIndexAt function in combination with the getGridCoordinates function from the VoxelGrid class to find input points that are inside the voxel grid and removes them.

Voxel Based Compare Map Filter

The filter loads the map pointcloud (static loading whole map at once at beginning or dynamic loading during vehicle moving) and utilizes VoxelGrid to downsample map pointcloud.

For each point of input pointcloud, the filter use getCentroidIndexAt combine with getGridCoordinates function from VoxelGrid class to check if the downsampled map point existing surrounding input points. Remove the input point which has downsampled map point in voxels containing or being close to the point.

Voxel Distance based Compare Map Filter

This filter is a combination of the distance_based_compare_map_filter and voxel_based_approximate_compare_map_filter. The filter loads the map point cloud, which can be loaded statically at the beginning or dynamically during vehicle movement, and creates a voxel grid and a k-d tree of the map point cloud. The filter uses the getCentroidIndexAt function in combination with the getGridCoordinates function from the VoxelGrid class to find input points that are inside the voxel grid and removes them. For points that do not belong to any voxel grid, they are compared again with the map point cloud using the radiusSearch function of the k-d tree and are removed if they are close enough to the map.

Lanelet Elevation Filter

The Lanelet Elevation Filter filters point clouds based on lanelet elevation information. It creates a grid-based elevation map from lanelet data and filters out points that deviate significantly from the expected road surface height. This filter is useful for removing floating objects, overpass structures, and other non-road elements that should not be considered for ground-level navigation.

The filter processes lanelet maps to extract elevation information at regular grid intervals and uses this information to validate incoming point cloud data. Points that are too far above or below the expected lanelet surface elevation are filtered out.

If incoming point cloud frame differs from target_frame, points will be transformed to target_frame before elevation check.

Inputs / Outputs

Compare Elevation Map Filter

Input

Name	Type	Description
`~/input/points`	`sensor_msgs::msg::PointCloud2`	reference points
`~/input/elevation_map`	`grid_map::msg::GridMap`	elevation map

Output

Name	Type	Description
`~/output/points`	`sensor_msgs::msg::PointCloud2`	filtered points

Parameters

Name	Type	Description	Default value
`map_layer_name`	string	elevation map layer name	elevation
`map_frame`	float	frame_id of the map that is temporarily used before elevation_map is subscribed	map
`height_diff_thresh`	float	Remove points whose height difference is below this value [m]	0.15

Lanelet Elevation Filter

Input

Name	Type	Description
`~/input/pointcloud`	`sensor_msgs::msg::PointCloud2`	input point cloud
`~/input/lanelet_map`	`autoware_map_msgs::msg::LaneletMapBin`	lanelet map

Output

Name	Type	Description
`~/output/pointcloud`	`sensor_msgs::msg::PointCloud2`	filtered point cloud
`~/debug/elevation_markers`	`visualization_msgs::msg::MarkerArray`	elevation grid visualization

Parameters

Name	Type	Description	Default value
`grid_resolution`	double	Grid cell size in meters for elevation processing	1.0
`height_threshold`	double	Maximum height difference from lanelet elevation (meters)	2.0
`sampling_distance`	double	Distance between sampled points along lanelet boundaries (meters)	0.5
`extension_count`	int	Number of cells to extend around original lanelet points	5
`target_frame`	string	Target coordinate frame for processing	map
`cache_directory`	string	Directory for cached grid files	$(find-pkg-share autoware_compare_map_segmentation)/data/lanelet_grid_cache
`require_map_coverage`	bool	If true, only keep points with direct map coverage; reject points requiring interpolation	true
`enable_debug`	bool	Enable debug mode (includes elevation markers and processing time publisher)	false

Other Filters

Input

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_compare_map_segmentation

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
feat(autoware_pointcloud_preprocessor): add diagnostic message (#10579)
- feat: add diag msg
- chore: fix code
- chore: remove outlier count in ring
- chore: move format timestamp to utility
- chore: add paramter to schema
- chore: add parameter for cluster
- chore: clean code
- chore: fix schema
- chore: move diagnostic updater to filter base class
- chore: fix schema
- chore: fix spell error
- chore: set up diagnostic updater
- refactor: utilize autoware_utils diagnostic message
- chore: add publish
- chore: add detail message
- chore: const for time difference
- refactor: structure diagnostics to class
- chore: const reference
- chore: clean logic
- chore: modify function name
- chore: update parameter
- chore: move evaluate status into diagnostic
- chore: fix description for concatenated pointcloud
- chore: timestamp mismatch threshold
- chore: fix diagnostic key
* chore: change function naming ---------
Contributors: TaikiYamada4, Yi-Hsiang Fang (Vivid)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
chore(elevation_map): add \@asa-naki to maitainer (#10621)
fix(autoware_compare_map_segmentation): handle empty output point cloud (#10572)
- fix(voxel_based_compare_map_filter): handle empty output point cloud and set appropriate frame_id
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Kosuke Takeuchi, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

Merge remote-tracking branch 'origin/main' into humble
feat(compare_map_segmentation): publish warning when pcl::voxelgrid failed to filter with large leaf size (#10381)

* feat: add warn in pcl overflow with compare_map chore: fix message length feat: add sanity check into voxel based compare map feat: add feasibility check function
- fix: update include paths for voxel_grid_map_loader in segmentation filters
- feat: add diagnostic status handling in VoxelGridMapLoader and related components
- feat: add diagnostic updater for voxel-based compare map filter and improve status reporting
- refactor: move isFeasibleWithPCLVoxelGrid function to

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_internal_debug_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_point_types
	autoware_pointcloud_preprocessor
	autoware_test_utils
	autoware_utils
	diagnostic_updater
	geometry_msgs
	grid_map_pcl
	grid_map_ros
	lanelet2_core
	lanelet2_projection
	lanelet2_routing
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tier4_perception_launch

Launch files

launch/compare_elevation_map_filter.launch.xml
- - compare_elevation_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/compare_elevation_map_filter.param.yaml]
  - input [default: /input]
  - input_elevation_map [default: /input/elevation_map]
  - output [default: /output]
launch/distance_based_compare_map_filter.launch.xml
- - distance_based_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/distance_based_compare_map_filter.param.yaml]
  - input [default: /input]
  - input_map [default: /map]
  - output [default: /output]
launch/lanelet_elevation_filter.launch.xml
- - input_pointcloud [default: /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud]
  - input_lanelet_map [default: /map/vector_map]
  - output_pointcloud [default: /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud_lanelet_filtered]
  - config_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/lanelet_elevation_filter.param.yaml]
launch/voxel_based_approximate_compare_map_filter.launch.xml
- - voxel_based_approximate_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/voxel_based_approximate_compare_map_filter.param.yaml]
  - input [default: /input]
  - input_map [default: /map]
  - output [default: /output]
launch/voxel_based_compare_map_filter.launch.xml
- - voxel_based_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/voxel_based_compare_map_filter.param.yaml]
  - input [default: /input]
  - input_map [default: /map]
  - pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
  - output [default: /output]
  - map_loader_service [default: /map/get_differential_pointcloud_map]
launch/voxel_distance_based_compare_map_filter.launch.xml
- - voxel_distance_based_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/voxel_distance_based_compare_map_filter.param.yaml]
  - input [default: /input]
  - input_map [default: /map]
  - output [default: /output]

Messages

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Services

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Plugins

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