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autoware_cuda_pointcloud_preprocessor package from autoware_universe repo

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autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_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 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Package Summary

Version	0.50.0
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	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

autoware_cuda_pointcloud_preprocessor

Maintainers

Kenzo Lobos-Tsunekawa
Amadeusz Szymko
Max Schmeller
David Wong
Manato Hirabayashi
Yihsiang Fang

Authors

Kenzo Lobos-Tsunekawa

sensing/autoware_cuda_pointcloud_preprocessor/README.md

autoware_cuda_pointcloud_preprocessor

Purpose

The pointcloud preprocessing implemented in autoware_pointcloud_preprocessor has been thoroughly tested in autoware. However, the latency it introduces does not scale well with modern LiDAR devices due to the high number of points they introduce.

To alleviate this issue, this package reimplements most of the pipeline presented in autoware_pointcloud_preprocessor leveraging the use of GPGPUs. In particular, this package makes use of CUDA to provide accelerated versions of the already established implementations, while also maintaining compatibility with normal ROS nodes/topics.

Inner-workings / Algorithms

A detailed description of each filter’s algorithm is available in the following links.

Filter Name	Description	Detail
cuda_pointcloud_preprocessor	Implements the cropping, distortion correction, and outlier filtering (ring-based) of the `autoware_pointcloud_preprocessor`’s CPU versions.	link
cuda_concatenate_and_time_sync_node	Implements pointcloud concatenation an synchronization following `autoware_pointcloud_preprocessor`’s CPU implementation.	link
cuda_voxel_grid_downsample_filter	Implements voxel downsample filtering of the `autoware_pointcloud_preprocessor`’s CPU version	link
cuda_polar_voxel_outlier_filter	Implements polar voxel outlier filtering of the `autoware_pointcloud_preprocessor`’s CPU version	link

(Optional) Future extensions / Unimplemented parts

The subsample filters implemented in autoware_pointcloud_preprocessor will have similar counterparts in this package.

CHANGELOG

Changelog for package autoware_cuda_pointcloud_preprocessor

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
fix(cuda_polar_voxel_outlier_filter): replace cub::TransformInputIterator with thrust::transform_iterator (#12069)
- fix(cuda_polar_voxel_outlier_filter): replace cub::TransformInputIterator with thrust::transform_iterator
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
feat(autoware_cuda_pointcloud_preprocessor): update nvcc flags (#12059)
feat: add negative option for cropbox filtering; aligning with CPU cropbox filter (#11766)
- feat: add negative option for cropbox filtering; aligning with CPU cropbox filter
- change the internal process of negative to also boolean; simplify the logics
- change the internal process of negative to also boolean; simplify the logics
* Apply suggestion from \@mojomex fix true/false Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

* precommit ---------Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(agnocast): build on jazzy, remove from ground_segmentation_cuda (#11960)
Contributors: Amadeusz Szymko, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yuxuan Liu

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(cuda_pointcloud_preprocessor): cast timestamp value properly (#11714)

* fix(cuda_pointcloud_preprocessor): cast timestamp value properly Since [twist.stamp_nsec]{.title-ref} and [last_stamp_nsec]{.title-ref} are defined as [std::uint32_t]{.title-ref}, subtraction may cause wrap-around and unexpected behavior if [twist.stamp_nsec < last_stamp_nsec]{.title-ref}

* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Contributors: Manato Hirabayashi, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
fix(cuda_pointcloud_preprocessor): use uint64_t and nanoseconds to prevent potential precision loss (#11398)
feat(autoware_cuda_pointcloud_preprocessor): cuda/polar voxel filter (#11122)
- feat(cuda_utils): support device memory allocation from memory pool
* feat(cuda_pointcloud_preprocessor): support polar_voxel_outlier_filter WIP: use cuda::std::optional. compile passed wip: version 1 wip: update wip: update launcher
- feat(cuda_pointcloud_preprocessor): add a flag to enable/disable ring outlier filter in cuda_pointcloud_preprocessor
- chore: clean up the code
- docs: update documents briefly
- style(pre-commit): autofix
- style(pre-commit): autofix
- feat(cuda_polar_voxel_outlier_filter): add xyzirc format support
- fix(cuda_polar_voxel_outlier_filter): move sync point to avoid unexpected memory release during async copy
- chore(cuda_polar_voxel_outlier_filter): update parameters
- add SI unit postfix
- deprecate [secondary_return_type]{.title-ref}
- and think points with non-primary return value as points with secondary return
- refactor(cuda_polar_voxel_outlier_filter): explicity specify

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_clang_format
	ament_lint_auto
	ament_lint_common
	agnocastlib
	autoware_agnocast_wrapper
	autoware_cuda_dependency_meta
	autoware_cuda_utils
	autoware_point_types
	autoware_pointcloud_preprocessor
	autoware_sensing_msgs
	autoware_utils
	cuda_blackboard
	diagnostic_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_msgs
	tier4_debug_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_ground_segmentation_cuda

Launch files

launch/cuda_concatenate_and_time_sync_node.launch.xml
- - input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - output [default: /sensing/lidar/concatenated/pointcloud]
  - output_info [default: /sensing/lidar/concatenated/pointcloud_info]
  - param_file [default: $(find-pkg-share autoware_pointcloud_preprocessor)/config/concatenate_and_time_sync_node.param.yaml]
launch/cuda_pointcloud_preprocessor.launch.xml
- - input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
  - input/imu [default: /sensing/imu/imu_data]
  - input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - output/pointcloud [default: /sensing/lidar/top/test]
  - cuda_pointcloud_preprocessor_param_file [default: $(find-pkg-share autoware_cuda_pointcloud_preprocessor)/config/cuda_pointcloud_preprocessor.param.yaml]
launch/cuda_polar_voxel_outlier_filter.launch.xml
- - input/pointcloud [default: /sensing/lidar/top/pointcloud_raw]
  - output/pointcloud [default: /sensing/lidar/top/filtered]
  - debug [default: false]
  - use_sim_time [default: false]
  - polar_voxel_outlier_filter_param_file [default: $(find-pkg-share autoware_pointcloud_preprocessor)/config/polar_voxel_outlier_filter_node.param.yaml]
launch/cuda_voxel_grid_downsample_filter.launch.xml
- - input/pointcloud [default: /sensing/lidar/top/pointcloud_raw]
  - output/pointcloud [default: /sensing/lidar/top/downsampled]
  - debug [default: false]
  - cuda_voxel_gird_downsample_filter_param_file [default: $(find-pkg-share autoware_cuda_pointcloud_preprocessor)/config/cuda_voxel_grid_downsample_filter.param.yaml]

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