feat(ndt_scan_matcher): add nearest voxel transfromation probability

[YamatoAndo]

Please merge tier4/ndt_omp#10 (merged) and tier4/ndt_omp#13 before this PR. Otherwise, the build and test will not pass.

Related Issue(required)

Description(required)

Add new score to determine convergence "nearest voxel transformation probability".
（If converged_param_type is set to 0, we can use "transfomation probability" as before.）

Background

In ndt_scan_matcher, the success or failure of convergence is determined by the Transformation Probability (TP).
However, there are some factors that cause the TP to fluctuate regardless of the convergence result, as shown in the following example, which often leads to misjudgment.

• The TP depends on the completeness of the map point cloud. The TP will be low when the map point cloud is inadequate, for example, buildings that should exist are not in the map point cloud.
• The TP depends on the distance of the sensor point cloud. When the distance is increased, the influence on the completeness of the map point cloud becomes stronger, and the TP tends to become low.

Therefore, I propose a new score that has less of this dependency.

Evaluation results

Graphing each score when offset from the correct position using rosbag in urban areas.

Transformation Probability

Nearest Voxel Transformation Probability

Consideration

The TP is highly variable, so it is not appropriate to use it to determine convergence.
The NVTP has a more stable value than TP, so we should use the NVTP instead of the TP.

Review Procedure(required)

Build with tier4/autoware_launch#198, tier4/ndt_omp#10 and tier4/ndt_omp#13.

Related PR(optional)

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[RyuYamamoto]

LGTM

[wep21]

@YamatoAndo Could you check the ci failure? https://github.com/autowarefoundation/autoware.universe/runs/5616843445?check_suite_focus=true

[YamatoAndo]

@wep21
Yes. As mentioned at the beginning of the PR, the ci test cannot pass without this PR (tier4/ndt_omp#10).

[wep21]

@YamatoAndo I'm sorry, I missed it. I merged tier4/ndt_omp#10 and rerun the ci.

[codecov]

Codecov Report

Merging #364 (4257622) into main (ca59048) will decrease coverage by 10.76%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #364       +/-   ##
==========================================
- Coverage   10.76%   0.00%   -10.77%     
==========================================
  Files         712      14      -698     
  Lines       50569     698    -49871     
  Branches     6572       0     -6572     
==========================================
- Hits         5445       0     -5445     
+ Misses      40717     698    -40019     
+ Partials     4407       0     -4407     

Impacted Files	Coverage Δ
localization/ndt/include/ndt/impl/omp.hpp	0.00% <0.00%> (ø)
localization/ndt/include/ndt/impl/pcl_generic.hpp	0.00% <0.00%> (ø)
localization/ndt/include/ndt/impl/pcl_modified.hpp	0.00% <0.00%> (ø)
localization/ndt/include/ndt/omp.hpp	0.00% <ø> (ø)
localization/ndt/include/ndt/pcl_generic.hpp	0.00% <ø> (ø)
localization/ndt/include/ndt/pcl_modified.hpp	0.00% <ø> (ø)
...include/ndt_scan_matcher/ndt_scan_matcher_core.hpp	0.00% <ø> (ø)
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <0.00%> (ø)
...tetime_rviz_plugin/src/autoware_datetime_panel.cpp
...n/autoware_auto_geometry/test/src/lookup_table.cpp
... and 696 more

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[YamatoAndo]

@RyuYamamoto please review again with tier4/ndt_omp#13 and tier4/autoware_launch#198.

[RyuYamamoto]

LGTM