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autoware_euclidean_cluster_object_detector package from autoware_core repo

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-06-07
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_object_detector package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Dai Nguyen

Authors

No additional authors.
perception/autoware_euclidean_cluster_object_detector/README.md

autoware_euclidean_cluster_object_detector

Purpose

autoware_euclidean_cluster_object_detector 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

  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.

Inputs / Outputs

Input

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

Output

Name Type Description
output autoware_perception_msgs::msg::DetectedObjects detected objects
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 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_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

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
No CHANGELOG found.

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.

Launch files

  • launch/euclidean_cluster.launch.xml
      • input_pointcloud [default: /sensing/lidar/top/pointcloud_raw]
      • 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_object_detector)/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: /sensing/lidar/top/pointcloud_raw]
      • 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_object_detector)/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

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