feat(intersection): denoise occlusion by morphology open process

[soblin]

Description

Apply morphology opening process to remove small occlusion from the occupancy grid.

Related links

parameter PR: autowarefoundation/autoware_launch#361

Tests performed

Psim

kernel size = 1.0m

kernel size = 3.0m:

Experiment

without this PR

with this PR and kernel_size = 2.5m, noisey occlusion does not appear.

Notes for reviewers

Interface changes

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (3f63c15) 14.51% compared to head (8ec266e) 14.51%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3763      +/-   ##
==========================================
- Coverage   14.51%   14.51%   -0.01%     
==========================================
  Files        1439     1439              
  Lines      101307   101312       +5     
  Branches    30061    30064       +3     
==========================================
  Hits        14708    14708              
- Misses      70510    70514       +4     
- Partials    16089    16090       +1     

Flag	Coverage Δ		*Carryforward flag
differential	10.02% <0.00%> (?)
total	14.51% <ø> (+<0.01%)	⬆️	Carriedforward from 3f63c15

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...e/scene_module/intersection/scene_intersection.hpp	0.00% <ø> (ø)
..._planner/src/scene_module/intersection/manager.cpp	19.79% <0.00%> (-0.11%)	⬇️
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)

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