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autoware_compare_map_segmentation package from autoware_universe repo

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autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack 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_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common 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_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common 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_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_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ROS 2 autoware_compare_map_segmentation package

Additional Links

No additional links.

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_compare_map_segmentation/README.md

autoware_compare_map_segmentation

Purpose

The autoware_compare_map_segmentation is a package that filters the ground points from the input pointcloud by using map info (e.g. pcd, elevation map or split map pointcloud from map_loader interface).

Inner-workings / Algorithms

Compare Elevation Map Filter

Compare the z of the input points with the value of elevation_map. The height difference is calculated by the binary integration of neighboring cells. Remove points whose height difference is below the height_diff_thresh.

Distance Based Compare Map Filter

This filter compares the input pointcloud with the map pointcloud using the nearestKSearch function of kdtree and removes points that are close to the map point cloud. The map pointcloud can be loaded statically at once at the beginning or dynamically as the vehicle moves.

Voxel Based Approximate Compare Map Filter

The filter loads the map point cloud, which can be loaded statically at the beginning or dynamically during vehicle movement, and creates a voxel grid of the map point cloud. The filter uses the getCentroidIndexAt function in combination with the getGridCoordinates function from the VoxelGrid class to find input points that are inside the voxel grid and removes them.

Voxel Based Compare Map Filter

The filter loads the map pointcloud (static loading whole map at once at beginning or dynamic loading during vehicle moving) and utilizes VoxelGrid to downsample map pointcloud.

For each point of input pointcloud, the filter use getCentroidIndexAt combine with getGridCoordinates function from VoxelGrid class to check if the downsampled map point existing surrounding input points. Remove the input point which has downsampled map point in voxels containing or being close to the point.

Voxel Distance based Compare Map Filter

This filter is a combination of the distance_based_compare_map_filter and voxel_based_approximate_compare_map_filter. The filter loads the map point cloud, which can be loaded statically at the beginning or dynamically during vehicle movement, and creates a voxel grid and a k-d tree of the map point cloud. The filter uses the getCentroidIndexAt function in combination with the getGridCoordinates function from the VoxelGrid class to find input points that are inside the voxel grid and removes them. For points that do not belong to any voxel grid, they are compared again with the map point cloud using the radiusSearch function of the k-d tree and are removed if they are close enough to the map.

Inputs / Outputs

Compare Elevation Map Filter

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/elevation_map grid_map::msg::GridMap elevation map

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Name Type Description Default value
map_layer_name string elevation map layer name elevation
map_frame float frame_id of the map that is temporarily used before elevation_map is subscribed map
height_diff_thresh float Remove points whose height difference is below this value [m] 0.15

Other Filters

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/map sensor_msgs::msg::PointCloud2 map (in case static map loading)
/localization/kinematic_state nav_msgs::msg::Odometry current ego-vehicle pose (in case dynamic map loading)

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Name Type Description Default value
use_dynamic_map_loading bool map loading mode selection, true for dynamic map loading, false for static map loading, recommended for no-split map pointcloud true
distance_threshold float Threshold distance to compare input points with map points [m] 0.5
map_update_distance_threshold float Threshold of vehicle movement distance when map update is necessary (in dynamic map loading) [m] 10.0
map_loader_radius float Radius of map need to be loaded (in dynamic map loading) [m] 150.0
timer_interval_ms int Timer interval to check if the map update is necessary (in dynamic map loading) [ms] 100
publish_debug_pcd bool Enable to publish voxelized updated map in debug/downsampled_map/pointcloud for debugging. It might cause additional computation cost false
downsize_ratio_z_axis double Positive ratio to reduce voxel_leaf_size and neighbor point distance threshold in z axis 0.5

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_compare_map_segmentation

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)
  • fix(compare_map_filter): deadlock bug fix (#10222)
    • fix(compare_map_filter): deadlock bug fix
    • fix: change to lock_guard
    • fix: CI error
    • reduce scope of mutex
    • refactor
    • chore: refactor

    * fix: add missing mutex for map_grid_size_x ---------

  • Contributors: Hayato Mizushima, Yutaka Kondo, badai nguyen

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_compare_map_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9869) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_compare_map_segmentation 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)
  • chore(compare_map_segmentation): rename defined type (#9181)
  • 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)
  • chore(compare_map_segmentation): add maintainer (#9371)
  • fix(compare_map_segmentation): timer period mismatched with parameter (#9259)
  • 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_compare_map_segmentation): fix cppcheck constVariableReference (#9196)
  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, badai nguyen

0.39.0 (2024-11-25)

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_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (#9162)
    • refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation
    • style(pre-commit): autofix
    • include message_filters as SYSTEM

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(compare_map_segmentation): add missing mutex lock (#9097)
    • fix(compare_map_segmentation): missing mutux
    • chore: rename mutex_
    • fix: remove unnecessary mutex
    • fix: typos
    • chore: minimize mutex scope
    • chore: change to lock_guard
    • fix: check tree initialization
    • fix: memory ordering

    * fix: replace all static_map_loader_mutex_ ---------

  • fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (#9024)
    • fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader
    • chore: typo
    • fix: launch

    * Update perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>> * fix: change to RCLCPP_ERROR ---------Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>>

  • chore(compare_map_segmentation): add node tests (#8907)
    • chore(compare_map_segmentation): add test for voxel_based_compare_map_filter
    • feat: add test for other compare map filter

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_compare_map_segmentation): typo bug fix (#8939) fix(compare_map_filter): typo bug fix
  • fix(autoware_compare_map_segmentation): fix unusedFunction (#8725) fix:unusedFunction
  • fix(compare_map_segmentation): use squared distance to compare threshold (#8744) fix: use square distance to compare threshold
  • fix(autoware_compare_map_segmentation): fix unusedFunction (#8565) fix:unusedFunction
  • fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (#8263)
    • fix: deal with functionStatic warnings
    • fix: deal with functionStatic warnings
    • fix: remove unnecessary const

    * fix: build error ---------

  • fix(autoware_compare_map_segmentation): fix uninitMemberVar (#8338) fix:uninitMemberVar
  • fix(autoware_compare_map_segmentation): fix passedByValue (#8233) fix:passedByValue
  • fix(autoware_compare_map_segmentation): fix redundantInitialization warning (#8226)
  • revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (#7852)" (#8180)
  • refactor(autoware_map_msgs): modify pcd metadata msg (#7852)
  • refactor(compare_map_segmentation): add package name prefix of autoware_ (#8005)
    • refactor(compare_map_segmentation): add package name prefix of autoware_

    * docs: update Readme ---------

  • Contributors: Esteve Fernandez, Ryohsuke Mitsudome, Ryuta Kambe, Yamato Ando, Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, badai nguyen, kobayu858, taisa1

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.

Launch files

  • launch/voxel_based_compare_map_filter.launch.xml
      • voxel_based_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/voxel_based_compare_map_filter.param.yaml]
      • input [default: /input]
      • input_map [default: /map]
      • pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output [default: /output]
      • map_loader_service [default: /map/get_differential_pointcloud_map]
  • launch/compare_elevation_map_filter.launch.xml
      • compare_elevation_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/compare_elevation_map_filter.param.yaml]
      • input [default: /input]
      • input_elevation_map [default: /input/elevation_map]
      • output [default: /output]
  • launch/voxel_based_approximate_compare_map_filter.launch.xml
      • voxel_based_approximate_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/voxel_based_approximate_compare_map_filter.param.yaml]
      • input [default: /input]
      • input_map [default: /map]
      • output [default: /output]
  • launch/voxel_distance_based_compare_map_filter.launch.xml
      • voxel_distance_based_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/voxel_distance_based_compare_map_filter.param.yaml]
      • input [default: /input]
      • input_map [default: /map]
      • output [default: /output]
  • launch/distance_based_compare_map_filter.launch.xml
      • distance_based_compare_map_filter_param_file [default: $(find-pkg-share autoware_compare_map_segmentation)/config/distance_based_compare_map_filter.param.yaml]
      • input [default: /input]
      • input_map [default: /map]
      • output [default: /output]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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