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Package Summary
| Tags | No category tags. |
| Version | 0.46.0 |
| 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 | 2025-07-30 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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.
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
| Name | Type | Description |
|---|---|---|
use_height |
bool | use point.z for clustering |
min_cluster_size |
int | the minimum number of points that a cluster needs to contain in order to be considered valid |
max_cluster_size |
int | the maximum number of points that a cluster needs to contain in order to be considered valid |
tolerance |
float | the spatial cluster tolerance as a measure in the L2 Euclidean space |
voxel_grid_based_euclidean_cluster
| Name | Type | Description |
|---|---|---|
use_height |
bool | use point.z for clustering |
min_cluster_size |
int | the minimum number of voxels that a cluster needs to contain in order to be considered valid |
max_cluster_size |
int | the maximum number of voxels that a cluster needs to contain in order to be considered valid |
tolerance |
float | the spatial cluster tolerance as a measure in the L2 Euclidean space |
voxel_leaf_size |
float | the voxel leaf size of x and y |
min_points_number_per_voxel |
int | the minimum number of points for a voxel |
min_voxel_cluster_size_for_filtering |
int | The minimum voxel cluster size for a cluster to be checked for being a large cluster. |
max_points_per_voxel_in_large_cluster |
int | The maximum points per voxel allowed in large clusters (used for filtering dense clusters). |
max_voxel_cluster_for_output |
int | The maximum number of voxel clusters to output. If the voxels exceeds this value, the cluster will be skipped. |
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
0.46.0 (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
d7bf97d85c1c97300adf52b7ace62a7c08b78402 Author: lei.gu
<<lei.gu@tier4.jp>> Date: Fri May 9 10:53:33 2025 +0900 fix all
problems of rviz commit 91ec2882a505df6996d49a2395f977eae1841314
Author: lei.gu <<lei.gu@tier4.jp>> Date: Thu May 8 19:22:56 2025
+0900 format fix commit fa1e680ab138253831398c51c415dd3861ea298b
Author: lei.gu <<lei.gu@tier4.jp>> Date: Thu May 8 17:56:16 2025
+0900 helper to better structure commit
2e4ba008e8c3351fc12f33b79f2fe41c492b1f3c Author: lei.gu
<<lei.gu@tier4.jp>> Date: Thu May 8 16:26:16 2025 +0900 colorbar
visualization optimized commit
25e4b9f4131cf38ce89c9b8b28dee0ed6562a4c3 Author: lei.gu
<<lei.gu@tier4.jp>> Date: Thu May 8 15:42:48 2025 +0900 basic
functions all implemented commit
3e3db86a1f3ff266cb00b8b83fa57231ee8e2fb8 Author: lei.gu
<<lei.gu@tier4.jp>> Date: Thu May 8 10:31:02 2025 +0900 colorbar
commit a6be3ce4a2a3fc48b54ba798af7875d6b071d88b Author: lei.gu
<<lei.gu@tier4.jp>> Date: Wed May 7 18:05:45 2025 +0900 colormap
fully implemented commit 46762b344541580d3411f61ea78828e5f35d9cfb
Author: lei.gu <<lei.gu@tier4.jp>> Date: Wed May 7 17:49:07 2025
+0900 colormap implemented commit
e3024f1d2865ca76c0b8e338fa5c2d6bd282dd22 Author: lei.gu
<<lei.gu@tier4.jp>> Date: Thu Apr 17 10:30:24 2025 +0900
feat(euclidean_cluster): add markers for clusters remove filter
profiling rviz detected_objects_with_feature detected objects
stage all commits Revert non-visualization changes to state of
43480ef7 commit daef21efb35bc0c4dc2fe9009906199d2b3cf9b1 Author:
lei.gu <<lei.gu@tier4.jp>> Date: Fri May 9 15:36:16 2025 +0900
colorbar
- style(pre-commit): autofix
- corresponding part of VoxelGridBasedEuclideanCluster used in detection by tracker
- style(pre-commit): autofix
- cluster point number diag removed
- add max_num_points_per_cluster
- euclidean cluster diag impl restored
- add comments for the parameters
- readme updated
- diag removed
- random point and exclude extreme large cluster
- fix index problem
- Refactor voxel grid parameters to improve clarity and functionality
- Renamed [max_num_points_per_cluster]{.title-ref} to [max_voxel_cluster_for_output]{.title-ref} for better understanding of its purpose.
- Updated related code and configuration files to reflect this change.
- Adjusted logic in the clustering algorithm to utilize the new parameter name. This change enhances the readability of the code and aligns parameter naming with their intended use.
- Add uniform point cloud generation function for voxel clustering tests
- Introduced [generateClusterWithinVoxelUniform]{.title-ref} to create a uniform point cloud for testing.
- Updated test case to utilize the new function, adjusting the number of generated points.
- Modified [max_voxel_cluster_for_output]{.title-ref} to reflect the new clustering logic. This enhances the testing framework by providing a more controlled point cloud generation method, improving test reliability.
- Update voxel grid parameters for euclidean clustering
- Reduced [min_voxel_cluster_size_for_filtering]{.title-ref} from 150 to 65 to better accommodate medium-sized trucks, considering LiDAR occlusion.
- Added comments to clarify the rationale behind the new threshold. This change aims to improve the filtering process in the voxel grid-based euclidean clustering algorithm. * max_num_points_per_cluster removed This change aims to enhance code readability and maintainability in the voxel grid-based euclidean clustering implementation. * Update README.md to clarify clustering parameters Revised descriptions for [min_cluster_size]{.title-ref} and [max_cluster_size]{.title-ref} to specify that they refer to the number of voxels instead of points. This change enhances the clarity of the documentation for the euclidean clustering methods. * Update README.md to correct clustering parameter descriptions Modified the descriptions for [min_cluster_size]{.title-ref} and [max_cluster_size]{.title-ref} in the README to clarify that they refer to the number of points instead of voxels. This change improves the accuracy of the documentation for the euclidean clustering methods. * Add max_voxel_cluster_for_output parameter to README.md Introduced a new parameter [max_voxel_cluster_for_output]{.title-ref} to the documentation, specifying the maximum number of voxel clusters to output. This addition enhances the clarity of the clustering configuration options available in the euclidean clustering methods. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>
- Contributors: TaikiYamada4, Yi-Hsiang Fang (Vivid), lei.gu
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: perception code owner update
(#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
- Merge remote-tracking branch 'origin/main' into humble
- feat(euclidean_cluster): add diagnostics warning when cluster
skipped
(#10278)
- feat(euclidean_cluster): add diagnostics warning when cluster skipped due to excessive points from large objects
- remove temporary code
- style(pre-commit): autofix
- feat(euclidean_cluster): diagnostics modified to remove redundant info
- style(pre-commit): autofix
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, lei.gu
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_euclidean_cluster)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_euclidean_cluster (#9873) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_euclidean_cluster Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
- Contributors: Fumiya Watanabe, Vishal Chauhan
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - perception (#9569)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (#9227) fix: bugprone-misplaced-widening-cast
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (#9227) fix: bugprone-misplaced-widening-cast
- Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(autoware_point_types): prefix namespace with autoware::point_types (#9169)
- refactor(autoware_pointcloud_preprocessor): rework crop box
parameters
(#8466)
- feat: add parameter schema for crop box
- chore: fix readme
- chore: remove filter.param.yaml file
- chore: add negative parameter for voxel grid based euclidean cluster
- chore: fix schema description
* chore: fix description of negative param ---------
- refactor(pointcloud_preprocessor): prefix package and namespace
with autoware
(#7983)
- refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware
- style(pre-commit): autofix
- style(pointcloud_preprocessor): suppress line length check for macros
- fix(pointcloud_preprocessor): missing prefix
- fix(pointcloud_preprocessor): missing prefix
- fix(pointcloud_preprocessor): missing prefix
- fix(pointcloud_preprocessor): missing prefix
- fix(pointcloud_preprocessor): missing prefix
- refactor(pointcloud_preprocessor): directory structure (soft)
* refactor(pointcloud_preprocessor): directory structure (hard) ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
- refactor(euclidean_cluster): add package name prefix of autoware_
(#8003)
- refactor(euclidean_cluster): add package name prefix of autoware_
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Amadeusz Szymko, Esteve Fernandez, Yi-Hsiang Fang (Vivid), Yutaka Kondo, badai nguyen
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
Launch files
- launch/euclidean_cluster.launch.xml
-
- input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input_map [default: /map/pointcloud_map]
- output_clusters [default: clusters]
- use_low_height_cropbox [default: false]
- euclidean_param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/euclidean_cluster.param.yaml]
- use_pointcloud_container [default: false]
- pointcloud_container_name [default: pointcloud_container]
- launch/voxel_grid_based_euclidean_cluster.launch.xml
-
- input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input_map [default: /map/pointcloud_map]
- output_clusters [default: clusters]
- use_low_height_cropbox [default: false]
- voxel_grid_based_euclidean_param_path [default: $(find-pkg-share autoware_euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml]
- use_pointcloud_container [default: false]
- pointcloud_container_name [default: pointcloud_container]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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