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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| 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 | 2025-04-25 |
| 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
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 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) 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
0.44.0 (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.
Recent questions tagged autoware_euclidean_cluster at Robotics Stack Exchange
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