autoware_euclidean_cluster_object_detector

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_euclidean_cluster_object_detector package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

perception/autoware_euclidean_cluster_object_detector/README.md

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-30
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_euclidean_cluster_object_detector package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Dai Nguyen

Authors

No additional authors.

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

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`	`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) References/External links

(Optional) Future extensions / Unimplemented parts

File truncated at 100 lines see the full file

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.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_crop_box_filter
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_perception_msgs
	autoware_point_types
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_system
	geometry_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
autoware_core_perception

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

No plugins found.

Recent questions tagged `autoware_euclidean_cluster_object_detector` at Robotics Stack Exchange