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autoware_euclidean_cluster package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_euclidean_cluster package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_euclidean_cluster at Robotics Stack Exchange

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autoware_euclidean_cluster package from autoware_universe repo

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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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 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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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

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Plugins

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Recent questions tagged autoware_euclidean_cluster at Robotics Stack Exchange

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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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

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autoware_euclidean_cluster package from autoware_universe repo

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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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 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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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

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autoware_euclidean_cluster package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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 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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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

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autoware_euclidean_cluster package from autoware_universe repo

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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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 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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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

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autoware_euclidean_cluster package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_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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github

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Browse Code
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Package Summary

Version 0.53.0
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 2026-10-27
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 three clustering methods: euclidean_cluster, voxel_grid_based_euclidean_cluster, and label_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

label_based_euclidean_cluster

LabelBasedEuclideanCluster converts a semantically segmented pointcloud into DetectedObjects.

See docs/label-based-euclidean-cluster.md for the node-specific behavior and configuration details.

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) 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

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix: missing dependencies for tl_expected and libexpected-dev (#13438)

  • feat(euclidean_cluster): add support of filtering clusters regarding size (#13248)

    • feat: add support of filtering clusters regarding size
    • refactor: replace parameter name
    • feat: add label_parameters for motorcycle and animal
    • feat: include car into confusable label groups

    * Apply suggestion from \@badai-nguyen Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>> ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>

  • fix(perception): complete node design files for label-based euclidean cluster and PTv3 (#13253)

    • refactor(ptv3.node.yaml): update parameter definitions and add new model paths
    • feat(LabelBasedEuclideanCluster): add new node configuration for label-based clustering

    * fix(DetectedObjectFeatureRemover): correct plugin name in node configuration ---------

  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • feat(euclidean_cluster): remove ptv3 experimental and apply autoware_core features (#13085)

  • feat(euclidean_cluster): apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)

    • fix: conflict

    * fix(euclidean_cluster): use AgnocastOnlyCallbackIsolatedExecutor for label_based node Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> ---------Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • feat(euclidean-cluster): apply SemanticLabel to LabelBasedEuclideanCluster (#12911)

  • feat(eucliean_cluster): compute cluster probability (#12883)

    • feat: include point indices of cluster
    • feat: compute cluster probability

    * docs: update document ---------

  • Contributors: Kotaro Uetake, Ryohsuke Mitsudome, Taekjin LEE, Yutaro Kobayashi

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • refactor(euclidean_cluster): extract clustering logic from ROS node (#12804)

    • refactor: extract core logic from ROS node
    • test: update unit test and integration test for node
    • chore: restore note
    • refactor: add explicit validation in the constructor
    • test: fix test

    * refactor: apply tl_expected to the return value of processor ---------

  • refactor(euclidean_cluster): replace hardcoded label handling with parameter driven parsing (#12796)

    • refactor: replace hardcoded label handling with parameter-driven parsing
    • test: add unittest

    * refactor: add a helper function between parsing label cluster params and confusable label groups params ---------

  • feat(label_based_euclidean_cluster): add per-label clustering

File truncated at 100 lines see the full file

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/label_based_euclidean_cluster.launch.xml
      • input/pointcloud [default: ~/input/segmented/pointcloud]
      • output/objects [default: ~/output/objects]
      • output/pointcloud [default: ~/output/pointcloud]
      • param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/label_based_euclidean_cluster.param.yaml]
  • 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]
      • agnocast_heaphook_path [default: /opt/ros/humble/lib/libagnocast_heaphook.so]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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