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autoware_euclidean_cluster package from autoware_universe repo

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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 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autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_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

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

The autoware_euclidean_cluster package

Maintainers

Yukihiro Saito
Dai Nguyen
Lei Gu
Taekjin Lee

Authors

No additional authors.

perception/autoware_euclidean_cluster/README.md

autoware_euclidean_cluster

Purpose

autoware_euclidean_cluster is a package for clustering points into smaller parts to classify objects.

This package has two clustering methods: euclidean_cluster and voxel_grid_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

pcl::EuclideanClusterExtraction is applied to points. See official document for details.

voxel_grid_based_euclidean_cluster

A centroid in each voxel is calculated by pcl::VoxelGrid.
The centroids are clustered by pcl::EuclideanClusterExtraction.
The input points are clustered based on the clustered centroids.

Inputs / Outputs

Input

Name	Type	Description
`input`	`sensor_msgs::msg::PointCloud2`	input pointcloud

Output

Name	Type	Description
`output`	`tier4_perception_msgs::msg::DetectedObjectsWithFeature`	cluster pointcloud
`debug/clusters`	`sensor_msgs::msg::PointCloud2`	colored cluster pointcloud for visualization

Parameters

Core Parameters

euclidean_cluster

{{ json_to_markdown(“perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json”) }}

voxel_grid_based_euclidean_cluster

{{ json_to_markdown(“perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json”) }}

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

The use_height option of voxel_grid_based_euclidean_cluster isn’t implemented yet.

CHANGELOG

Changelog for package autoware_euclidean_cluster

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
chore: use local default config files instead of autoware_launch and fix arg propagation chain (#12031)
- use local default config files instead of autoware_launch
- update tier4_perception_launch to drill down the param path
- add propagation chains for sync_param_path, irregular_object_detector_param_path and change default for sync_param_path, ogm_outlier_filter_param_path
- append ogm_outlier_filter.param.yaml propagation chain
- style(pre-commit): autofix
* Revert "style(pre-commit): autofix" This reverts commit b34af00301c6c292c0068951552f6630042afac3.

* Revert "append ogm_outlier_filter.param.yaml propagation chain" This reverts commit 0e44926d6b51a46868a0a8ff280565c643f3e515. ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
fix(euclidean_cluster): ignore inline pcl eigen warning (#11917)
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Taeseung Sohn

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(autoware_euclidean_cluster): add empty point cloud guards (#11744) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.
- Add empty data guards in euclidean_cluster_node.cpp
- Add early return in voxel_grid_based_euclidean_cluster_node.cpp
Contributors: Ryohsuke Mitsudome, Yutaka Kondo

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
feat(autoware_euclidean_cluster): created the schema file, updated the readme file and deleted the default parameter in node files code (#10085)
- feat(autoware_euclidean_cluster): Created the schema file, updated the readme file and deleted the default paramter in node files code
- style(pre-commit): autofix
* Update euclidean_cluster.schema.json done spell check error thank you

* Update euclidean_cluster_node.cpp Updated missing type
- fix(autoware_euclidean_cluster): remove unexpected properties
- fix: undo unnecessary modification
- remove unused parameters
- fix: schema error
- style(pre-commit): autofix
- fix: build error
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome, Vishal Chauhan

0.47.1 (2025-08-14)

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	tier4_perception_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
tier4_perception_launch
autoware_detection_by_tracker
autoware_image_projection_based_fusion

Launch files

launch/euclidean_cluster.launch.xml
- - input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  - input_map [default: /map/pointcloud_map]
  - output_clusters [default: clusters]
  - use_low_height_cropbox [default: false]
  - euclidean_param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/euclidean_cluster.param.yaml]
  - use_pointcloud_container [default: false]
  - pointcloud_container_name [default: pointcloud_container]
launch/voxel_grid_based_euclidean_cluster.launch.xml
- - input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  - input_map [default: /map/pointcloud_map]
  - output_clusters [default: clusters]
  - use_low_height_cropbox [default: false]
  - voxel_grid_based_euclidean_param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml]
  - use_pointcloud_container [default: false]
  - pointcloud_container_name [default: pointcloud_container]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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