feat: enable pcd divider to generate a metadat file

[anhnv3991]

Description

• Enable the point cloud divider to generate a metadata file of map segments, instead of actually dividing the PCD map. This is helpful when we work with tiny segmentation resolution without needing the actual PCD files. In such cases, dividing the PCD map is super slow, but generating a metadata file is very fast.

How was this PR tested?

• I tested this on the large Odaiba rinkai map, trying to divide the map to tiny 2.0x2.0m segments.
• Run this command
  ros2 launch autoware_pointcloud_divider pointcloud_divider.launch.xml input_pcd_or_dir:=<map_path> output_pcd_dir:=<output_folder> grid_size_x:=2.0 grid_size_y:=2.0 metadata_generate:=true
• A metadata file was generated at the <output_folder>

Notes for reviewers

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[YamatoAndo]

This is a package intended for dividing map point clouds,
so I don't understand the point of adding a flag that disables that functionality.

[YamatoAndo]

You should consider refactoring the code into a library so that both pcd divider and tp manager can generate metadata.

[anhnv3991]

@YamatoAndo

This is a package intended for dividing map point clouds, so I don't understand the point of adding a flag that disables that functionality.

I agree that the point cloud divider should divide a map into actuall PCD files. But we don't always want to process maps at point-level. If we examine maps at the segment-level, the metadata is enough. The TP manager now is checking Tps of map segments, so no need to actually divide map points.

I want to keep all the operations related to hashing points, finding segments, and distributing points to segments in a single package. So adding a parameter to generate a metadata file without dividing points is enough, imo.

[anhnv3991]

@YamatoAndo

You should consider refactoring the code into a library so that both pcd divider and tp manager can generate metadata.

I will consider this when there are more than two packages that call point cloud divider's functionality. Currently, adding one parameter and call the pcd divider via a python's call is simpler.

[YamatoAndo]

Currently, adding one parameter and call the pcd divider via a python's call is simpler.

It's best to stop using it like that, as it makes no sense.