Package Summary
Tags | No category tags. |
Version | 1.4.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | C++ common utilities for Autoware |
Checkout URI | https://github.com/autowarefoundation/autoware_utils.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-04-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jian Kang
- Ryohsuke Mitsudome
- Esteve Fernandez
- Yutaka Kondo
- Takagi, Isamu
Authors
autoware_utils_pcl
Overview
The autoware_utils library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This package provides essential utilities for point cloud. It is extensively used in the Autoware project to handle common tasks such as point cloud transformations.
Design
-
pcl_conversion.hpp
: Efficient conversion and transformation of PointCloud2 messages to PCL point clouds. -
transforms.hpp
: Efficient methods for transforming and manipulating point clouds.
Example Code Snippets
Efficient Point Cloud Conversion with pcl_conversion.hpp
#include <autoware_utils_pcl/pcl_conversion.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <Eigen/Core>
#include <rclcpp/rclcpp.hpp>
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("pcl_conversion_node");
// Load point cloud data
sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
// Define transformation matrix
Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
// Populate transform matrix with actual values
// Convert and transform point cloud
autoware_utils::transform_point_cloud_from_ros_msg(cloud_in, pcl_cloud, transform);
rclcpp::shutdown();
return 0;
}
Changelog for package autoware_utils_pcl
1.4.0 (2025-04-22)
- test(autoware_utils): port unit tests from autoware.universe (#28)
- feat: remove managed transform buffer (#41)
- Contributors: Amadeusz Szymko, storrrrrrrrm
1.3.0 (2025-03-21)
- unify version
- update changelog
- feat(autoware_utils_tf): rename package (#46)
- feat(autoware_utils_pcl): split package
(#29)
- feat(autoware_utils_pcl): split package
- add maintainer
- fix build error
- add compatibility
- rename package
* update readme ---------
- Contributors: Takagi, Isamu, Yutaka Kondo
- feat(autoware_utils_tf): rename package (#46)
- feat(autoware_utils_pcl): split package
(#29)
- feat(autoware_utils_pcl): split package
- add maintainer
- fix build error
- add compatibility
- rename package
* update readme ---------
- Contributors: Takagi, Isamu
1.2.0 (2025-02-26)
1.1.0 (2025-01-27)
1.0.0 (2024-05-02)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_auto | |
autoware_lint_common | |
autoware_utils_tf | |
pcl_conversions | |
pcl_ros |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_utils |
Launch files
Messages
Services
Plugins
Recent questions tagged autoware_utils_pcl at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.4.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | C++ common utilities for Autoware |
Checkout URI | https://github.com/autowarefoundation/autoware_utils.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-04-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jian Kang
- Ryohsuke Mitsudome
- Esteve Fernandez
- Yutaka Kondo
- Takagi, Isamu
Authors
autoware_utils_pcl
Overview
The autoware_utils library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This package provides essential utilities for point cloud. It is extensively used in the Autoware project to handle common tasks such as point cloud transformations.
Design
-
pcl_conversion.hpp
: Efficient conversion and transformation of PointCloud2 messages to PCL point clouds. -
transforms.hpp
: Efficient methods for transforming and manipulating point clouds.
Example Code Snippets
Efficient Point Cloud Conversion with pcl_conversion.hpp
#include <autoware_utils_pcl/pcl_conversion.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <Eigen/Core>
#include <rclcpp/rclcpp.hpp>
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("pcl_conversion_node");
// Load point cloud data
sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
// Define transformation matrix
Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
// Populate transform matrix with actual values
// Convert and transform point cloud
autoware_utils::transform_point_cloud_from_ros_msg(cloud_in, pcl_cloud, transform);
rclcpp::shutdown();
return 0;
}
Changelog for package autoware_utils_pcl
1.4.0 (2025-04-22)
- test(autoware_utils): port unit tests from autoware.universe (#28)
- feat: remove managed transform buffer (#41)
- Contributors: Amadeusz Szymko, storrrrrrrrm
1.3.0 (2025-03-21)
- unify version
- update changelog
- feat(autoware_utils_tf): rename package (#46)
- feat(autoware_utils_pcl): split package
(#29)
- feat(autoware_utils_pcl): split package
- add maintainer
- fix build error
- add compatibility
- rename package
* update readme ---------
- Contributors: Takagi, Isamu, Yutaka Kondo
- feat(autoware_utils_tf): rename package (#46)
- feat(autoware_utils_pcl): split package
(#29)
- feat(autoware_utils_pcl): split package
- add maintainer
- fix build error
- add compatibility
- rename package
* update readme ---------
- Contributors: Takagi, Isamu
1.2.0 (2025-02-26)
1.1.0 (2025-01-27)
1.0.0 (2024-05-02)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_auto | |
autoware_lint_common | |
autoware_utils_tf | |
pcl_conversions | |
pcl_ros |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_utils |
Launch files
Messages
Services
Plugins
Recent questions tagged autoware_utils_pcl at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.4.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | C++ common utilities for Autoware |
Checkout URI | https://github.com/autowarefoundation/autoware_utils.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-04-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jian Kang
- Ryohsuke Mitsudome
- Esteve Fernandez
- Yutaka Kondo
- Takagi, Isamu
Authors
autoware_utils_pcl
Overview
The autoware_utils library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This package provides essential utilities for point cloud. It is extensively used in the Autoware project to handle common tasks such as point cloud transformations.
Design
-
pcl_conversion.hpp
: Efficient conversion and transformation of PointCloud2 messages to PCL point clouds. -
transforms.hpp
: Efficient methods for transforming and manipulating point clouds.
Example Code Snippets
Efficient Point Cloud Conversion with pcl_conversion.hpp
#include <autoware_utils_pcl/pcl_conversion.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <Eigen/Core>
#include <rclcpp/rclcpp.hpp>
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("pcl_conversion_node");
// Load point cloud data
sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
// Define transformation matrix
Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
// Populate transform matrix with actual values
// Convert and transform point cloud
autoware_utils::transform_point_cloud_from_ros_msg(cloud_in, pcl_cloud, transform);
rclcpp::shutdown();
return 0;
}
Changelog for package autoware_utils_pcl
1.4.0 (2025-04-22)
- test(autoware_utils): port unit tests from autoware.universe (#28)
- feat: remove managed transform buffer (#41)
- Contributors: Amadeusz Szymko, storrrrrrrrm
1.3.0 (2025-03-21)
- unify version
- update changelog
- feat(autoware_utils_tf): rename package (#46)
- feat(autoware_utils_pcl): split package
(#29)
- feat(autoware_utils_pcl): split package
- add maintainer
- fix build error
- add compatibility
- rename package
* update readme ---------
- Contributors: Takagi, Isamu, Yutaka Kondo
- feat(autoware_utils_tf): rename package (#46)
- feat(autoware_utils_pcl): split package
(#29)
- feat(autoware_utils_pcl): split package
- add maintainer
- fix build error
- add compatibility
- rename package
* update readme ---------
- Contributors: Takagi, Isamu
1.2.0 (2025-02-26)
1.1.0 (2025-01-27)
1.0.0 (2024-05-02)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_auto | |
autoware_lint_common | |
autoware_utils_tf | |
pcl_conversions | |
pcl_ros |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_utils |