feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation

[technolojin]

Description

The scan ground algorithm has a checker that the point is above the height from the ground line. The ground line is calculated from previous grid points.

This PR implements the linear least square method for the ground line fitting. This implementation reduces impact of noisy lidar points.

Related links

Parent Issue:

• Link

How was this PR tested?

• evaluator
  TIER IV Cloud

• computing time: Computing time difference is negligible.

Before

🌲 Total Processing Time Tree 🌲
100.00% faster_filter: total 9441.63 [ms], avg. 16.86 [ms], run count: 560
    ├── 78.64% convertPointcloudGridScan: total 7425.25 [ms], avg. 13.26 [ms], run count: 560
    │   ├── 56.39% azimuth_angle_grouping: total 5323.95 [ms], avg. 9.51 [ms], run count: 560
    │   ├── 22.16% sort: total 2092.28 [ms], avg. 3.74 [ms], run count: 560
    │   └── 0.10% rest: 9.01 [ms]
    ├── 19.33% classifyPointCloudGridScan: total 1824.92 [ms], avg. 3.26 [ms], run count: 560
    ├── 1.22% extractObjectPoints: total 115.00 [ms], avg. 0.21 [ms], run count: 560
    └── 0.81% rest: 76.46 [ms]

After

🌲 Total Processing Time Tree 🌲
100.00% faster_filter: total 9225.78 [ms], avg. 16.90 [ms], run count: 546
    ├── 78.02% convertPointcloudGridScan: total 7197.63 [ms], avg. 13.18 [ms], run count: 546
    │   ├── 55.10% azimuth_angle_grouping: total 5083.42 [ms], avg. 9.31 [ms], run count: 546
    │   ├── 22.82% sort: total 2105.34 [ms], avg. 3.86 [ms], run count: 546
    │   └── 0.10% rest: 8.87 [ms]
    ├── 19.88% classifyPointCloudGridScan: total 1834.39 [ms], avg. 3.36 [ms], run count: 546
    ├── 1.28% extractObjectPoints: total 117.87 [ms], avg. 0.22 [ms], run count: 546
    └── 0.82% rest: 75.89 [ms]

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 27.51%. Comparing base (92868c0) to head (5fa3cd6).
Report is 4 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #9116   +/-   ##
=======================================
  Coverage   27.50%   27.51%           
=======================================
  Files        1303     1303           
  Lines      101046   101062   +16     
  Branches    39180    39184    +4     
=======================================
+ Hits        27794    27803    +9     
- Misses      70544    70551    +7     
  Partials     2708     2708           

Flag	Coverage Δ		*Carryforward flag
differential	12.10% <100.00%> (?)
total	27.49% <ø> (-0.01%)	⬇️	Carriedforward from 92868c0

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

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[badai-nguyen]

Thanks for your update. LGTM