diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 12961c1470eb9..aef7220680d67 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -30,7 +30,6 @@
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -74,7 +73,6 @@
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 3a24ec2fdf500..23f3bd0b532a0 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -4,7 +4,6 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -60,7 +59,6 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="score_threshold" value="$(var score_threshold)"/>
-      <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 6d67df5fa7a1f..9ab48a678240d 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,7 +5,6 @@
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -34,7 +33,6 @@
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 204fb561b10ea..58ee60b9409e0 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -58,7 +58,6 @@
   <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="false" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg
     name="use_empty_dynamic_object_publisher"
@@ -146,7 +145,6 @@
           <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 82ce5605b67cd..ba6e9e72107c8 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -16,10 +16,9 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.conditions import IfCondition
-from launch.substitutions import AndSubstitution
+from launch.conditions import UnlessCondition
 from launch.substitutions import AnonName
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import NotSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
@@ -165,7 +164,7 @@ def load_composable_node_param(param_path):
     )
 
     # set euclidean cluster as a component
-    use_downsample_euclidean_cluster_component = ComposableNode(
+    euclidean_cluster_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
@@ -177,108 +176,40 @@ def load_composable_node_param(param_path):
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_map_disuse_downsample_euclidean_component = ComposableNode(
-        package=pkg,
-        namespace=ns,
-        plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
-        name="euclidean_cluster",
-        remappings=[
-            ("input", "map_filter/pointcloud"),
-            ("output", LaunchConfiguration("output_clusters")),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
-    )
-    disuse_map_disuse_downsample_euclidean_component = ComposableNode(
-        package=pkg,
-        namespace=ns,
-        plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
-        name="euclidean_cluster",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", LaunchConfiguration("output_clusters")),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
-    )
-
     container = ComposableNodeContainer(
         name="euclidean_cluster_container",
         package="rclcpp_components",
         namespace=ns,
         executable="component_container",
-        composable_node_descriptions=[],
+        composable_node_descriptions=[
+            voxel_grid_filter_component,
+            outlier_filter_component,
+            downsample_concat_component,
+            euclidean_cluster_component,
+        ],
         output="screen",
     )
 
-    use_map_use_downsample_loader = LoadComposableNodes(
+    use_map_loader = LoadComposableNodes(
         composable_node_descriptions=[
             compare_map_filter_component,
             use_map_short_range_crop_box_filter_component,
             use_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
         ],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                LaunchConfiguration("use_pointcloud_map"),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_map")),
     )
 
-    disuse_map_use_downsample_loader = LoadComposableNodes(
+    disuse_map_loader = LoadComposableNodes(
         composable_node_descriptions=[
             disuse_map_short_range_crop_box_filter_component,
             disuse_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
         ],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_map")),
     )
 
-    use_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_disuse_downsample_euclidean_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                (LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
-    )
-
-    disuse_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            disuse_map_disuse_downsample_euclidean_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
-    )
-    return [
-        container,
-        use_map_use_downsample_loader,
-        disuse_map_use_downsample_loader,
-        use_map_disuse_downsample_loader,
-        disuse_map_disuse_downsample_loader,
-    ]
+    return [container, use_map_loader, disuse_map_loader]
 
 
 def generate_launch_description():
@@ -291,7 +222,6 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_pointcloud_map", "false"),
-            add_launch_arg("use_downsample_pointcloud", "false"),
             add_launch_arg(
                 "voxel_grid_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index 2833fed81c28e..6ae70b2612836 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -4,7 +4,6 @@
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_pointcloud_map" default="false"/>
-  <arg name="use_downsample_pointcloud" default="false"/>
   <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
   <arg name="compare_map_param_path" default="$(find-pkg-share euclidean_cluster)/config/compare_map.param.yaml"/>
   <arg name="outlier_param_path" default="$(find-pkg-share euclidean_cluster)/config/outlier.param.yaml"/>
@@ -15,7 +14,6 @@
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
     <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
     <arg name="compare_map_param_path" value="$(var compare_map_param_path)"/>
     <arg name="outlier_param_path" value="$(var outlier_param_path)"/>
diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index c5f15ec4e49d5..b14d3a181e587 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -41,21 +41,6 @@ ament_target_dependencies(pointcloud_preprocessor_filter_base
   pcl_ros
 )
 
-add_library(faster_voxel_grid_downsample_filter SHARED
-  src/downsample_filter/faster_voxel_grid_downsample_filter.cpp
-)
-
-target_include_directories(faster_voxel_grid_downsample_filter PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-
-ament_target_dependencies(faster_voxel_grid_downsample_filter
-  pcl_conversions
-  rclcpp
-  sensor_msgs
-)
-
 ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/utility/utilities.cpp
   src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
@@ -82,7 +67,6 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
 
 target_link_libraries(pointcloud_preprocessor_filter
   pointcloud_preprocessor_filter_base
-  faster_voxel_grid_downsample_filter
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
@@ -195,13 +179,6 @@ install(
   RUNTIME DESTINATION bin
 )
 
-install(
-  TARGETS faster_voxel_grid_downsample_filter EXPORT export_${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
 install(
   DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
index 1406679ce0dba..3b392401de49b 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
@@ -54,7 +54,6 @@
 #define POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
-#include "pointcloud_preprocessor/transform_info.hpp"
 
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp
deleted file mode 100644
index d92b511d40c69..0000000000000
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright 2023 TIER IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-
-#include "pointcloud_preprocessor/transform_info.hpp"
-
-#include <pcl/filters/voxel_grid.h>
-#include <pcl_conversions/pcl_conversions.h>
-#include <sensor_msgs/msg/point_cloud2.h>
-
-#include <unordered_map>
-#include <vector>
-
-namespace pointcloud_preprocessor
-{
-
-class FasterVoxelGridDownsampleFilter
-{
-  using PointCloud2 = sensor_msgs::msg::PointCloud2;
-  using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr;
-
-public:
-  FasterVoxelGridDownsampleFilter();
-  void set_voxel_size(float voxel_size_x, float voxel_size_y, float voxel_size_z);
-  void set_field_offsets(const PointCloud2ConstPtr & input);
-  void filter(
-    const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info,
-    const rclcpp::Logger & logger);
-
-private:
-  struct Centroid
-  {
-    float x;
-    float y;
-    float z;
-    uint32_t point_count_;
-
-    Centroid() : x(0), y(0), z(0) {}
-    Centroid(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { this->point_count_ = 1; }
-
-    void add_point(float _x, float _y, float _z)
-    {
-      this->x += _x;
-      this->y += _y;
-      this->z += _z;
-      this->point_count_++;
-    }
-
-    Eigen::Vector4f calc_centroid() const
-    {
-      Eigen::Vector4f centroid(
-        (this->x / this->point_count_), (this->y / this->point_count_),
-        (this->z / this->point_count_), 1.0f);
-      return centroid;
-    }
-  };
-
-  Eigen::Vector3f inverse_voxel_size_;
-  std::vector<pcl::PCLPointField> xyz_fields_;
-  int x_offset_;
-  int y_offset_;
-  int z_offset_;
-  int intensity_offset_;
-  bool offset_initialized_;
-
-  Eigen::Vector3f get_point_from_global_offset(
-    const PointCloud2ConstPtr & input, size_t global_offset);
-
-  bool get_min_max_voxel(
-    const PointCloud2ConstPtr & input, Eigen::Vector3i & min_voxel, Eigen::Vector3i & max_voxel);
-
-  std::unordered_map<uint32_t, Centroid> calc_centroids_each_voxel(
-    const PointCloud2ConstPtr & input, const Eigen::Vector3i & max_voxel,
-    const Eigen::Vector3i & min_voxel);
-
-  void copy_centroids_to_output(
-    std::unordered_map<uint32_t, Centroid> & voxel_centroid_map, PointCloud2 & output,
-    const TransformInfo & transform_info);
-};
-
-}  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp
index ae285b4fa9239..7ebf80c2da958 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 TIER IV, Inc.
+// Copyright 2020 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -52,7 +52,6 @@
 #define POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
-#include "pointcloud_preprocessor/transform_info.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -67,16 +66,10 @@ class VoxelGridDownsampleFilterComponent : public pointcloud_preprocessor::Filte
   void filter(
     const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override;
 
-  // TODO(atsushi421): Temporary Implementation: Remove this interface when all the filter nodes
-  // conform to new API
-  virtual void faster_filter(
-    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output,
-    const TransformInfo & transform_info);
-
 private:
-  float voxel_size_x_;
-  float voxel_size_y_;
-  float voxel_size_z_;
+  double voxel_size_x_;
+  double voxel_size_y_;
+  double voxel_size_z_;
 
   /** \brief Parameter service callback result : needed to be hold */
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
index 47c0f2b403faa..f995be741272c 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
@@ -52,8 +52,6 @@
 #ifndef POINTCLOUD_PREPROCESSOR__FILTER_HPP_
 #define POINTCLOUD_PREPROCESSOR__FILTER_HPP_
 
-#include "pointcloud_preprocessor/transform_info.hpp"
-
 #include <memory>
 #include <string>
 #include <vector>
@@ -136,6 +134,18 @@ class Filter : public rclcpp::Node
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 protected:
+  struct TransformInfo
+  {
+    TransformInfo()
+    {
+      eigen_transform = Eigen::Matrix4f::Identity(4, 4);
+      need_transform = false;
+    }
+
+    Eigen::Matrix4f eigen_transform;
+    bool need_transform;
+  };
+
   /** \brief The input PointCloud2 subscriber. */
   rclcpp::Subscription<PointCloud2>::SharedPtr sub_input_;
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
index ab7d4e0012304..a906eb913d863 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
@@ -17,7 +17,6 @@
 
 #include "autoware_point_types/types.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
-#include "pointcloud_preprocessor/transform_info.hpp"
 
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp
deleted file mode 100644
index a4806555695b5..0000000000000
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-// Copyright 2023 TIER IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-
-#include <Eigen/Eigen>
-
-namespace pointcloud_preprocessor
-{
-
-/**
- * This holds the coordinate transformation information of the point cloud.
- * Usage example:
- *   \code
- *   if (transform_info.need_transform) {
- *       point = transform_info.eigen_transform * point;
- *   }
- *   \endcode
- */
-struct TransformInfo
-{
-  TransformInfo()
-  {
-    eigen_transform = Eigen::Matrix4f::Identity(4, 4);
-    need_transform = false;
-  }
-
-  Eigen::Matrix4f eigen_transform;
-  bool need_transform;
-};
-
-}  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp
deleted file mode 100644
index 7c302eec20431..0000000000000
--- a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp
+++ /dev/null
@@ -1,178 +0,0 @@
-// Copyright 2023 TIER IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp"
-
-namespace pointcloud_preprocessor
-{
-
-FasterVoxelGridDownsampleFilter::FasterVoxelGridDownsampleFilter()
-{
-  pcl::for_each_type<typename pcl::traits::fieldList<pcl::PointXYZ>::type>(
-    pcl::detail::FieldAdder<pcl::PointXYZ>(xyz_fields_));
-  offset_initialized_ = false;
-}
-
-void FasterVoxelGridDownsampleFilter::set_voxel_size(
-  float voxel_size_x, float voxel_size_y, float voxel_size_z)
-{
-  inverse_voxel_size_ =
-    Eigen::Array3f::Ones() / Eigen::Array3f(voxel_size_x, voxel_size_y, voxel_size_z);
-}
-
-void FasterVoxelGridDownsampleFilter::set_field_offsets(const PointCloud2ConstPtr & input)
-{
-  x_offset_ = input->fields[pcl::getFieldIndex(*input, "x")].offset;
-  y_offset_ = input->fields[pcl::getFieldIndex(*input, "y")].offset;
-  z_offset_ = input->fields[pcl::getFieldIndex(*input, "z")].offset;
-  intensity_offset_ = input->fields[pcl::getFieldIndex(*input, "intensity")].offset;
-  offset_initialized_ = true;
-}
-
-void FasterVoxelGridDownsampleFilter::filter(
-  const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info,
-  const rclcpp::Logger & logger)
-{
-  // Check if the field offset has been set
-  if (!offset_initialized_) {
-    set_field_offsets(input);
-  }
-
-  // Compute the minimum and maximum voxel coordinates
-  Eigen::Vector3i min_voxel, max_voxel;
-  if (!get_min_max_voxel(input, min_voxel, max_voxel)) {
-    RCLCPP_ERROR(
-      logger,
-      "Voxel size is too small for the input dataset. "
-      "Integer indices would overflow.");
-    output = *input;
-    return;
-  }
-
-  // Storage for mapping voxel coordinates to centroids
-  auto voxel_centroid_map = calc_centroids_each_voxel(input, max_voxel, min_voxel);
-
-  // Initialize the output
-  output.row_step = voxel_centroid_map.size() * input->point_step;
-  output.data.resize(output.row_step);
-  output.width = voxel_centroid_map.size();
-  pcl_conversions::fromPCL(xyz_fields_, output.fields);
-  output.is_dense = true;  // we filter out invalid points
-  output.height = input->height;
-  output.is_bigendian = input->is_bigendian;
-  output.point_step = input->point_step;
-  output.header = input->header;
-
-  // Copy the centroids to the output
-  copy_centroids_to_output(voxel_centroid_map, output, transform_info);
-}
-
-Eigen::Vector3f FasterVoxelGridDownsampleFilter::get_point_from_global_offset(
-  const PointCloud2ConstPtr & input, size_t global_offset)
-{
-  Eigen::Vector3f point(
-    *reinterpret_cast<const float *>(&input->data[global_offset + x_offset_]),
-    *reinterpret_cast<const float *>(&input->data[global_offset + y_offset_]),
-    *reinterpret_cast<const float *>(&input->data[global_offset + z_offset_]));
-  return point;
-}
-
-bool FasterVoxelGridDownsampleFilter::get_min_max_voxel(
-  const PointCloud2ConstPtr & input, Eigen::Vector3i & min_voxel, Eigen::Vector3i & max_voxel)
-{
-  // Compute the minimum and maximum point coordinates
-  Eigen::Vector3f min_point, max_point;
-  min_point.setConstant(FLT_MAX);
-  max_point.setConstant(-FLT_MAX);
-  for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size();
-       global_offset += input->point_step) {
-    Eigen::Vector3f point = get_point_from_global_offset(input, global_offset);
-    if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) {
-      min_point = min_point.cwiseMin(point);
-      max_point = max_point.cwiseMax(point);
-    }
-  }
-
-  // Check that the voxel size is not too small, given the size of the data
-  if (
-    ((static_cast<std::int64_t>((max_point[0] - min_point[0]) * inverse_voxel_size_[0]) + 1) *
-     (static_cast<std::int64_t>((max_point[1] - min_point[1]) * inverse_voxel_size_[1]) + 1) *
-     (static_cast<std::int64_t>((max_point[2] - min_point[2]) * inverse_voxel_size_[2]) + 1)) >
-    static_cast<std::int64_t>(std::numeric_limits<std::int32_t>::max())) {
-    return false;
-  }
-
-  // Compute the minimum and maximum voxel coordinates
-  min_voxel[0] = static_cast<int>(std::floor(min_point[0] * inverse_voxel_size_[0]));
-  min_voxel[1] = static_cast<int>(std::floor(min_point[1] * inverse_voxel_size_[1]));
-  min_voxel[2] = static_cast<int>(std::floor(min_point[2] * inverse_voxel_size_[2]));
-  max_voxel[0] = static_cast<int>(std::floor(max_point[0] * inverse_voxel_size_[0]));
-  max_voxel[1] = static_cast<int>(std::floor(max_point[1] * inverse_voxel_size_[1]));
-  max_voxel[2] = static_cast<int>(std::floor(max_point[2] * inverse_voxel_size_[2]));
-
-  return true;
-}
-
-std::unordered_map<uint32_t, FasterVoxelGridDownsampleFilter::Centroid>
-FasterVoxelGridDownsampleFilter::calc_centroids_each_voxel(
-  const PointCloud2ConstPtr & input, const Eigen::Vector3i & max_voxel,
-  const Eigen::Vector3i & min_voxel)
-{
-  std::unordered_map<uint32_t, Centroid> voxel_centroid_map;
-  // Compute the number of divisions needed along all axis
-  Eigen::Vector3i div_b = max_voxel - min_voxel + Eigen::Vector3i::Ones();
-  // Set up the division multiplier
-  Eigen::Vector3i div_b_mul(1, div_b[0], div_b[0] * div_b[1]);
-
-  for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size();
-       global_offset += input->point_step) {
-    Eigen::Vector3f point = get_point_from_global_offset(input, global_offset);
-    if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) {
-      // Calculate the voxel index to which the point belongs
-      int ijk0 = static_cast<int>(std::floor(point[0] * inverse_voxel_size_[0]) - min_voxel[0]);
-      int ijk1 = static_cast<int>(std::floor(point[1] * inverse_voxel_size_[1]) - min_voxel[1]);
-      int ijk2 = static_cast<int>(std::floor(point[2] * inverse_voxel_size_[2]) - min_voxel[2]);
-      uint32_t voxel_id = ijk0 * div_b_mul[0] + ijk1 * div_b_mul[1] + ijk2 * div_b_mul[2];
-
-      // Add the point to the corresponding centroid
-      if (voxel_centroid_map.find(voxel_id) == voxel_centroid_map.end()) {
-        voxel_centroid_map[voxel_id] = Centroid(point[0], point[1], point[2]);
-      } else {
-        voxel_centroid_map[voxel_id].add_point(point[0], point[1], point[2]);
-      }
-    }
-  }
-
-  return voxel_centroid_map;
-}
-
-void FasterVoxelGridDownsampleFilter::copy_centroids_to_output(
-  std::unordered_map<uint32_t, Centroid> & voxel_centroid_map, PointCloud2 & output,
-  const TransformInfo & transform_info)
-{
-  size_t output_data_size = 0;
-  for (const auto & pair : voxel_centroid_map) {
-    Eigen::Vector4f centroid = pair.second.calc_centroid();
-    if (transform_info.need_transform) {
-      centroid = transform_info.eigen_transform * centroid;
-    }
-    *reinterpret_cast<float *>(&output.data[output_data_size + x_offset_]) = centroid[0];
-    *reinterpret_cast<float *>(&output.data[output_data_size + y_offset_]) = centroid[1];
-    *reinterpret_cast<float *>(&output.data[output_data_size + z_offset_]) = centroid[2];
-    *reinterpret_cast<float *>(&output.data[output_data_size + intensity_offset_]) = centroid[3];
-    output_data_size += output.point_step;
-  }
-}
-
-}  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
index f11f37397a142..5b22986a1b6b8 100644
--- a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 TIER IV, Inc.
+// Copyright 2020 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -50,8 +50,6 @@
 
 #include "pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp"
 
-#include "pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp"
-
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/segmentation/segment_differences.h>
@@ -66,9 +64,9 @@ VoxelGridDownsampleFilterComponent::VoxelGridDownsampleFilterComponent(
 {
   // set initial parameters
   {
-    voxel_size_x_ = static_cast<float>(declare_parameter("voxel_size_x", 0.3));
-    voxel_size_y_ = static_cast<float>(declare_parameter("voxel_size_y", 0.3));
-    voxel_size_z_ = static_cast<float>(declare_parameter("voxel_size_z", 0.1));
+    voxel_size_x_ = static_cast<double>(declare_parameter("voxel_size_x", 0.3));
+    voxel_size_y_ = static_cast<double>(declare_parameter("voxel_size_y", 0.3));
+    voxel_size_z_ = static_cast<double>(declare_parameter("voxel_size_z", 0.1));
   }
 
   using std::placeholders::_1;
@@ -76,8 +74,6 @@ VoxelGridDownsampleFilterComponent::VoxelGridDownsampleFilterComponent(
     std::bind(&VoxelGridDownsampleFilterComponent::paramCallback, this, _1));
 }
 
-// TODO(atsushi421): Temporary Implementation: Delete this function definition when all the filter
-// nodes conform to new API.
 void VoxelGridDownsampleFilterComponent::filter(
   const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output)
 {
@@ -99,19 +95,6 @@ void VoxelGridDownsampleFilterComponent::filter(
   output.header = input->header;
 }
 
-// TODO(atsushi421): Temporary Implementation: Rename this function to `filter()` when all the
-// filter nodes conform to new API. Then delete the old `filter()` defined above.
-void VoxelGridDownsampleFilterComponent::faster_filter(
-  const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
-  PointCloud2 & output, const TransformInfo & transform_info)
-{
-  std::scoped_lock lock(mutex_);
-  FasterVoxelGridDownsampleFilter faster_voxel_filter;
-  faster_voxel_filter.set_voxel_size(voxel_size_x_, voxel_size_y_, voxel_size_z_);
-  faster_voxel_filter.set_field_offsets(input);
-  faster_voxel_filter.filter(input, output, transform_info, this->get_logger());
-}
-
 rcl_interfaces::msg::SetParametersResult VoxelGridDownsampleFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
index d5843be395adf..f0b716c73b5f1 100644
--- a/sensing/pointcloud_preprocessor/src/filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -124,8 +124,7 @@ void pointcloud_preprocessor::Filter::subscribe(const std::string & filter_name)
   // TODO(sykwer): Change the corresponding node to subscribe to `faster_input_indices_callback`
   // each time a child class supports the faster version.
   // When all the child classes support the faster version, this workaround is deleted.
-  std::set<std::string> supported_nodes = {
-    "CropBoxFilter", "RingOutlierFilter", "VoxelGridDownsampleFilter"};
+  std::set<std::string> supported_nodes = {"CropBoxFilter", "RingOutlierFilter"};
   auto callback = supported_nodes.find(filter_name) != supported_nodes.end()
                     ? &Filter::faster_input_indices_callback
                     : &Filter::input_indices_callback;