feat(autoware_detected_object_validation): set validate distance in the obstacle pointcloud based validator

[technolojin]

Description

A set of detected objects is validated by the obstacle pointcloud, which is the result of a rule-based detection ground segmentation.
In far ranges, however, it is difficult to separate non-ground obstacle since reflection of ground in far range is very week or absent due to the shallow angle.

A parameter validate_max_distance_m is added to not validate object far than this parameter.

Related links

Launcher PR autowarefoundation/autoware_launch#1277

How was this PR tested?

TIER IV INTERNAL

Experiment condition

• ground segmentation setting : change parameters to make obstacle pointcloud less in far distance (for test purpose)

  • global_slope_max_angle_deg: 30.0
  • local_slope_max_angle_deg: 30.0
  • use_recheck_ground_cluster: false

• obstacle pointcloud based validator set a short validation distance (for test purpose)

  • validate_max_distance_m: 40.0

Before

Blue bounding box: detected objects
Yellow bounding box: validated objects
White points: obstacle pointcloud

Since the obstacle pointclouds are fail to segment obstacles in far ranges, far objects are filtered out.

After

Blue bounding box: detected objects
Yellow bounding box: validated objects

Even the obstacle pointclouds are absent, objects far than 40m could pass the validator.

Notes for reviewers

The parameter validate_max_distance_m need to be set where the ground segmentation is less accurate. If this parameter is set too close, there is a risk that the detected is object is not validated.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 29.81%. Comparing base (219b8ca) to head (f63d6a3).
Report is 11 commits behind head on main.

Files with missing lines	Patch %	Lines
...tacle_pointcloud/obstacle_pointcloud_validator.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #9663   +/-   ##
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  Coverage   29.80%   29.81%           
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  Files        1443     1443           
  Lines      108592   108581   -11     
  Branches    42664    42645   -19     
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  Hits        32369    32369           
+ Misses      73044    73033   -11     
  Partials     3179     3179           

Flag	Coverage Δ		*Carryforward flag
differential	5.29% <0.00%> (?)
total	29.81% <ø> (+<0.01%)	⬆️	Carriedforward from a85c67b

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[Shin-kyoto]

LGTM

• I did NOT check this PR by running autoware.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9663/
Modified URLs:

[YoshiRi]

LGTM