feat(map): add pointcloud divider and pointcloud merger

[anhnv3991]

Description

• Added pointcloud divider and pointcloud merger with modified classes for reading/writing PCD with minimize memory requirements
• Reworked parameters: move parameters to YAML file and added schema.json files
• Added launch files (py and xml)

Tests performed

• To test the pointcloud divider, run the below command.

$ ros2 launch autoware_pointcloud_divider pointcloud_divider.launch.xml input_pcd_or_dir:=<path_to_input_PCD_folder_or_PCD_file> output_pcd_dir:=<path_to_output_PCD_folder> prefix:=<prefix_for_output_PCDs>

• To test the pointcloud merger, run the below command.

$ ros2 launch autoware_pointcloud_merger pointcloud_merger.launch.xml input_pcd_dir:=<path_to_the_input_PCD_folder> output_pcd:=<path_to_the_merged_PCD_file>

• The memory consumption should not exceed 3GB

Notes for reviewers

• Currently these tools only support XYZ or XYZI PCD files. Other format like XYZRGB are not supported.
• The default point type for readding/writing PCD files is pcl::PointXYZI. To change the point type please go to the YAML file at config/ and change point_type: to "point_xyz" or "point_xyzi" (string type).
• Other parameters (like the segmentation resolution or downsampling resolution) are also specified via YAML files.

Interface changes

• Parameters are all moved to YAML file and tools are launched via ros2 launch instead of shell scripts like MapIV's tools.

Effects on system behavior

None

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[anhnv3991]

@SakodaShintaro Thank you for reviewing the point cloud divider.
Regarding this problem

I tried pointcloud_divider to nishishinjuku_map.
It was very slower than the old pointcloud_divider.
Is there any big difference from the old one?

I found a problem with the code. The file you shared is a bit different from usual PCD files. Its header look like this

FIELDS intensity _ x y z _
SIZE 4 1 4 4 4 1
TYPE F U F F F U
COUNT 1 12 1 1 1 4

A typical PCD's header often looks like this

FIELDS x y z intensity
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1

I don't know how your file was created but the order of point fields was changed, and there is some padding bytes (fields "_"). My PCD reader did not expected those thing previously. I modified the code to address those fields, and the code should work now.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware_tools/pr-100/
Modified URLs:

• https://autowarefoundation.github.io/autoware_tools/pr-100/map/autoware_pointcloud_divider/
• https://autowarefoundation.github.io/autoware_tools/pr-100/map/autoware_pointcloud_merger/