From ab500c61eb33919e321b15a9079b3f7ecbbb6b93 Mon Sep 17 00:00:00 2001
From: Anh Nguyen <anh.nguyen.2@tier4.jp>
Date: Mon, 3 Mar 2025 16:49:45 +0700
Subject: [PATCH] Move parameters of point cloud divider to xml files

Signed-off-by: Anh Nguyen <anh.nguyen.2@tier4.jp>
---
 map/autoware_pointcloud_divider/README.md     | 27 +++++--------------
 .../launch/pointcloud_divider.launch.xml      | 16 +++++++++++
 2 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/map/autoware_pointcloud_divider/README.md b/map/autoware_pointcloud_divider/README.md
index e859ad8b0..f39daa37f 100644
--- a/map/autoware_pointcloud_divider/README.md
+++ b/map/autoware_pointcloud_divider/README.md
@@ -30,7 +30,7 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-test
 - Select directory, process all files found with `find $INPUT_DIR -name "*.pcd"`.
 
   ```bash
-  ros2 launch autoware_pointcloud_divider pointcloud_divider.launch.xml input_pcd_or_dir:=<INPUT_DIR> output_pcd_dir:=<OUTPUT_DIR> prefix:=<PREFIX>
+  ros2 launch autoware_pointcloud_divider pointcloud_divider.launch.xml input_pcd_or_dir:=<INPUT_DIR> output_pcd_dir:=<OUTPUT_DIR> prefix:=<PREFIX> [use_large_grid:=true/false] [leaf_size:=<LEAF_SIZE>] [grid_size_x:=<GRID_SIZE_X>] [grid_size_y:=<GRID_SIZE_Y>]
   ```
 
   | Name       | Description                           |
@@ -38,6 +38,11 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-test
   | INPUT_DIR  | Directory that contains all PCD files |
   | OUTPUT_DIR | Output directory name                 |
   | PREFIX     | Prefix of output PCD file name        |
+  | use_large_grid| If true, group PCD segments to groups of larger grids|
+  | LEAF_SIZE| The resolution (m) to downsample output PCD files. If negative, no downsampling is applied on the output PCD files|
+  | GRID_SIZE_X| The X size (m) of the output PCD segments|
+  | GRID_SIZE_Y| The Y size (m) of the output PCD segments|
+
 
 `INPUT_DIR` and `OUTPUT_DIR` should be specified as **absolute paths**.
 
@@ -55,26 +60,6 @@ How the PCD file is named
 
 ![node_diagram](docs/output_file_name_pattern.drawio.svg)
 
-### Parameter example
-
-1. Dividing point clouds without downsampling
-
-   ```yaml
-   use_large_grid: false
-   leaf_size: -1.0 # any negative number
-   grid_size_x: 20
-   grid_size_y: 20
-   ```
-
-2. Dividing and downsampling point clouds
-
-   ```yaml
-   use_large_grid: false
-   leaf_size: 0.2
-   grid_size_x: 20
-   grid_size_y: 20
-   ```
-
 ## Metadata YAML Format
 
 The metadata file should be named `metadata.yaml`. It contains the following fields:
diff --git a/map/autoware_pointcloud_divider/launch/pointcloud_divider.launch.xml b/map/autoware_pointcloud_divider/launch/pointcloud_divider.launch.xml
index f18054df9..7a105d90a 100644
--- a/map/autoware_pointcloud_divider/launch/pointcloud_divider.launch.xml
+++ b/map/autoware_pointcloud_divider/launch/pointcloud_divider.launch.xml
@@ -1,9 +1,25 @@
 <launch>
   <arg name="config_file_path" default="$(find-pkg-share autoware_pointcloud_divider)/config/pointcloud_divider.param.yaml" description="Path to the configuration YAML file"/>
+  <arg name="use_large_grid" default="false" description="True: group PCD files into folders"/>
+  <arg name="leaf_size" default="-0.1" description="Downsampling resolution"/>
+  <arg name="grid_size_x" default="20.0" description="The X size of a segment"/>
+  <arg name="grid_size_y" default="20.0" description="The Y size of a segment"/>
+  <arg name="input_pcd_or_dir" description="The path to the folder containing the input PCD files or the input PCD file"/>
+  <arg name="output_pcd_dir" description="The path to the folder containing the output PCD files and metadata files"/>
+  <arg name="prefix" default="" description="The prefix for output PCD files"/>
+  <arg name="point_type" default="point_xyzi" description="The type of map points"/>
 
   <group>
     <node pkg="autoware_pointcloud_divider" exec="autoware_pointcloud_divider_node" name="pointcloud_divider" output="screen">
       <param from="$(var config_file_path)" allow_substs="true"/>
+      <param name="use_large_grid" value="$(var use_large_grid)"/>
+      <param name="leaf_size" value="$(var leaf_size)"/>
+      <param name="grid_size_x" value="$(var grid_size_x)"/>
+      <param name="grid_size_y" value="$(var grid_size_y)"/>
+      <param name="input_pcd_or_dir" value="$(var input_pcd_or_dir)"/>
+      <param name="output_pcd_dir" value="$(var output_pcd_dir)"/>
+      <param name="prefix" value="$(var prefix)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
   </group>
 </launch>