fix(euclidean_cluster): fix max_cluster_size bug

[badai-nguyen]

Description

• To fix the bug of processing the cluster related to `max_cluster_size:

  • Due to of mis-matching of limitation of data copy and max cluster size checking, the large cluster with number of pointcloud > max_cluster_size is still clutered with first max_cluster_size copying points.
  • Checking by small max_cluster_size = 100 but part of car still clustered.
    

• Releated PR: fix(euclidean_cluster): add intensity field #6818

• This PR will open for review after fix(euclidean_cluster): fix euclidean cluster params #7662 is merged.

Related links

How was this PR tested?

• Confirmed by logging_simulator and confirmed that a large cluster ( > max_cluster_size) will not be clustered.
• Tested with max_cluster_size = 100
  

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[beginningfan]

I think the problem is in line 120. When adding points to the cluster, the cluster stops adding when the size of cluster is equal to max_cluster_size. Therefore, this incomplete cluster will not be filtered out by line 134. According to your modification, the cluster will be filtered out by line 134 when it exits when there is one more point than max_cluster_size. However, this solution will cause the program to crash due to insufficient space allocated by resize in line 109, causing the program to crash. If the space is reallocated using the method I provided in #7662, or add an extra point when allocating space in line 109, this problem can be avoided.

[badai-nguyen]

@beginningfan Yes, I created this PR by assuming your PR#7662 is merged. It is reason I still keep it as draft. Could you merge your PR? I'm sorry for insufficient description.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 28.39%. Comparing base (c2f9579) to head (c2488b3).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...cluster/lib/voxel_grid_based_euclidean_cluster.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7734      +/-   ##
==========================================
+ Coverage   28.38%   28.39%   +0.01%     
==========================================
  Files        1584     1585       +1     
  Lines      115463   115486      +23     
  Branches    49233    49238       +5     
==========================================
+ Hits        32773    32794      +21     
- Misses      73684    73695      +11     
+ Partials     9006     8997       -9     

Flag	Coverage Δ		*Carryforward flag
differential	2.56% <0.00%> (?)
total	28.40% <ø> (+0.01%)	⬆️	Carriedforward from b5cbc44

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[badai-nguyen]

@beginningfan I updated this PR as your PR #7662 was merged. Since you also worked on Euclidean Cluster, could I ask your review on this PR again.

[beginningfan]

LGTM

[yukkysaito]

LGTM

[YoshiRi]

LGTM