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autoware_euclidean_cluster package from autoware_universe repo

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autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter 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 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autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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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_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.48.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-03
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen
Lei Gu
Taekjin Lee

Authors

No additional authors.

perception/autoware_euclidean_cluster/README.md

autoware_euclidean_cluster

Purpose

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

This package has two clustering methods: euclidean_cluster and voxel_grid_based_euclidean_cluster.

Inner-workings / Algorithms

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

Inputs / Outputs

Input

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

Output

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

Parameters

Core Parameters

euclidean_cluster

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

voxel_grid_based_euclidean_cluster

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

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

The use_height option of voxel_grid_based_euclidean_cluster isn’t implemented yet.

CHANGELOG

Changelog for package autoware_euclidean_cluster

0.48.0 (2025-11-18)

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

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

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
feat(autoware_pointcloud_preprocessor): add diagnostic message (#10579)
- feat: add diag msg
- chore: fix code
- chore: remove outlier count in ring
- chore: move format timestamp to utility
- chore: add paramter to schema
- chore: add parameter for cluster
- chore: clean code
- chore: fix schema
- chore: move diagnostic updater to filter base class
- chore: fix schema
- chore: fix spell error
- chore: set up diagnostic updater
- refactor: utilize autoware_utils diagnostic message
- chore: add publish
- chore: add detail message
- chore: const for time difference
- refactor: structure diagnostics to class
- chore: const reference
- chore: clean logic
- chore: modify function name
- chore: update parameter
- chore: move evaluate status into diagnostic
- chore: fix description for concatenated pointcloud
- chore: timestamp mismatch threshold
- chore: fix diagnostic key
* chore: change function naming ---------
feat(autoware_euclidean_cluster): enhance VoxelGridBasedEuclideanCluster with Large Cluster Filtering Parameters (#10618)

* Squashed commit of the following: commit cf3035909ccad94003b2b06f8608b6cb887b221a Author: lei.gu <<lei.gu@tier4.jp>> Date: Tue May 13 11:34:32 2025 +0900 debugging impl removed commit 17ee5fc61053e1ff816294a962d9f61dc73cd164 Author: lei.gu <<lei.gu@tier4.jp>> Date: Tue May 13 11:24:04 2025 +0900 parameters reading finished commit 6731b5150344515fce11bf5c0128a20145a0b6a8 Author: lei.gu <<lei.gu@tier4.jp>> Date: Tue May 13 09:50:47 2025 +0900 euclidean cluster filter commit 4a65dafec7728209dc4015c513920215d259ddae Author: lei.gu <<lei.gu@tier4.jp>> Date: Fri May 9 15:46:07 2025 +0900 Squashed commit of the following: commit 699e657c3997e0c3457d9c1f5fffe1081c4433cc Merge: 4833afd811 e876ece2f8 Author: lei.gu <<lei.gu@tier4.jp>> Date: Fri May 9 11:14:48 2025 +0900 Merge branch 'main' into feat/autoware_perception_rviz_plugin/detected_objects_with_feature_display commit 4833afd8114364625a4a9a82b237e72a09c737be Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri May 9 02:13:09 2025 +0000 style(pre-commit): autofix commit

File truncated at 100 lines see the full file

Package Dependencies

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

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
tier4_perception_launch
autoware_detection_by_tracker
autoware_image_projection_based_fusion

Launch files

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

Messages

No message files found.

Services

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Plugins

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