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feat: remove description about divided maps and put link instead #429

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Aug 1, 2023
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feat: remove description about divided maps and put link instead #429

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41 changes: 2 additions & 39 deletions docs/design/autoware-architecture/map/index.md
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Expand Up @@ -42,51 +42,14 @@ The point cloud map must be supplied as a file with the following requirements:
- Its resolution should be at least 0.2 m to yield reliable localization results.
- It can be in either local or global coordinates, but must be in global coordinates (georeferenced) to use GNSS data for localization.

For more details on divided map format, please refer to [the Readme of `map_loader` in Autoware Universe](https://github.com/autowarefoundation/autoware.universe/blob/main/map/map_loader/README.md).

!!! note

Three global coordinate systems are currently supported by Autoware, including [Military Grid Reference System (MGRS)](https://en.wikipedia.org/wiki/Military_Grid_Reference_System), [Universal Transverse Mercator (UTM)](https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system), and [Japan Rectangular Coordinate System](https://ja.wikipedia.org/wiki/%E5%B9%B3%E9%9D%A2%E7%9B%B4%E8%A7%92%E5%BA%A7%E6%A8%99%E7%B3%BB).
However, MGRS is a preferred coordinate system for georeferenced maps.
In a map with MGRS coordinate system, the X and Y coordinates of each point represent the point's location within the 100,000-meter square, while the Z coordinate represents the point's elevation.

If it is split into a single file, Autoware assumes the following directory structure by default.

```bash
sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd
```

If it is split into multiple files, Autoware assumes the following directory structure by default.

```bash
sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map
├── pcd_00.pcd
├── pcd_01.pcd
├── pcd_02.pcd
├── ...
└── pointcloud_map_metadata.yaml
```

Note that, if you split the map into multiple files, you must meet the following additional conditions:

- It must be split by lines parallel to the x-y axis.
- Additional metadata must be provided as well.

Metadata should look like as follows:

```yaml
x_resolution: 100.0
y_resolution: 150.0
A.pcd: [1200, 2500] # -> 1200 < x < 1300, 2500 < y < 2650
B.pcd: [1300, 2500] # -> 1300 < x < 1400, 2500 < y < 2650
C.pcd: [1200, 2650] # -> 1200 < x < 1300, 2650 < y < 2800
D.pcd: [1400, 2650] # -> 1400 < x < 1500, 2650 < y < 2800
```

You may use [pointcloud_divider](https://github.com/MapIV/pointcloud_divider) from MAP IV for dividing pointcloud map as well as generating the compatible metadata.yaml.

#### Vector Map

The vector cloud map must be supplied as a file with the following requirements:
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