feat: add tools to collect TP values of PCD map segments

map/autoware_tp_collector/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(autoware_tp_manager)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+# Enable support for C++17
+if (${CMAKE_VERSION} VERSION_LESS "3.1.0")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+else ()
+  set(CMAKE_CXX_STANDARD 17)
+endif ()
+
+# Find packages
+find_package(yaml-cpp REQUIRED)
+find_package(PCL REQUIRED)
+
+install(PROGRAMS
+  scripts/tp_collector.py
+  scripts/tp_checker.py
+  scripts/tp_visualizer.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# ament_auto_package(INSTALL_TO_SHARE launch config)
+ament_auto_package()

map/autoware_tp_collector/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2023, MAP IV
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

map/autoware_tp_collector/README.md

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+# autoware_pointcloud_merger
+
+This is a tool for processing pcd files, and it can perform the following functions:
+
+- Merging multiple PCD files to a single PCD file
+- Downsampling point clouds
+
+## Supported Data Format
+
+**Currently, only `pcl::PointXYZ` and `pcl::PointXYZI` are supported. Any PCD will be loaded as those two types .**
+
+This tool can be used with files that have data fields other than `XYZI` (e.g., `XYZRGB`) and files that only contain `XYZ`.
+
+- Data fields other than `XYZI` are ignored during loading.
+- When loading `XYZ`-only data, the `intensity` field is assigned 0.
+
+## Installation
+
+```bash
+cd <PATH_TO_pilot-auto.*> # OR <PATH_TO_autoware>
+cd src/
+git clone [email protected]:autowarefoundation/autoware_tools.git
+cd ..
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --symlink-install --packages-up-to autoware_pointcloud_merger
+```
+
+## Usage
+
+- Merger all PCD files from the input directory into a single output PCD
+
+  ```bash
+  ros2 launch autoware_pointcloud_merger pointcloud_merger.launch.xml input_pcd_dir:=<INPUT_DIR> output_pcd:=<OUTPUT_PCD>
+  ```
+
+  | Name       | Description                                 |
+  | ---------- | ------------------------------------------- |
+  | INPUT_DIR  | Directory that contains all input PCD files |
+  | OUTPUT_PCD | Name of the output PCD file                 |
+
+`INPUT_DIR` and `OUTPUT_PCD` should be specified as **absolute paths**.
+
+## Parameter
+
+{{ json_to_markdown("map/autoware_pointcloud_merger/schema/pointcloud_merger.schema.json") }}
+
+## LICENSE
+
+Parts of files pcd_merger.hpp, and pcd_merger.cpp are copied from [MapIV's pointcloud_divider](https://github.com/MapIV/pointcloud_divider) and are under [BSD-3-Clauses](LICENSE) license. The remaining code are under [Apache License 2.0](../../LICENSE)

map/autoware_tp_collector/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_tp_manager</name>
+  <version>0.1.0</version>
+  <description>A package for checking TP scores of NDT matching</description>
+  <maintainer email="[email protected]">Anh Nguyen</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Anh Nguyen</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>libpcl-all-dev</depend>
+  <depend>yaml-cpp</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

map/autoware_tp_collector/schema/pointcloud_merger.schema.json

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+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for autoware point cloud merger node",
+  "type": "object",
+  "definitions": {
+    "autoware_pointcloud_merger": {
+      "type": "object",
+      "properties": {
+        "leaf_size": {
+          "type": "number",
+          "description": "Resolution in meter for downsampling the output PCD. Setting to negative to get the raw output PCD.",
+          "default": "-0.1"
+        },
+        "input_pcd_dir": {
+          "type": "string",
+          "description": "The path to the folder containing the input PCD files",
+          "default": ""
+        },
+        "output_pcd": {
+          "type": "string",
+          "description": "The path to the merged PCD file",
+          "default": ""
+        },
+        "point_type": {
+          "type": "string",
+          "description": "Type of the point when processing PCD files. Could be point_xyz or point_xyzi",
+          "default": "point_xyzi"
+        }
+      },
+      "required": ["input_pcd_dir", "output_pcd"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_pointcloud_merger"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}