fix(crosswalk): fix occlusion detection range calculation and add debug markers

[maxime-clem]

Description

Fix a mistake in the detection range calculation.

• Before: detection range (m) = time for ego to reach the crosswalk (s) divided by occluded object velocity (m/s).
  • seconds divided by meters per seconds --> second squared per meter ⚠️
• After: detection range (m) = time for ego to reach the crosswalk (s) multiplied by occluded object velocity (m/s).
  • seconds multiplied by meters per seconds --> meters. ✔️

Also do a small refactoring and add some markers to visualize the occlusion detection area

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 27 lines in your changes missing coverage. Please review.

Project coverage is 28.24%. Comparing base (20ebe9d) to head (1903f6b).
Report is 10 commits behind head on main.

Files with missing lines	Patch %	Lines
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00%	24 Missing ⚠️
...locity_crosswalk_module/src/occluded_crosswalk.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9121      +/-   ##
==========================================
- Coverage   28.25%   28.24%   -0.02%     
==========================================
  Files        1304     1309       +5     
  Lines      101062   101116      +54     
  Branches    39236    39241       +5     
==========================================
+ Hits        28556    28557       +1     
- Misses      69686    69738      +52     
- Partials     2820     2821       +1     

Flag	Coverage Δ		*Carryforward flag
differential	17.54% <0.00%> (?)
total	28.26% <ø> (+<0.01%)	⬆️	Carriedforward from 20ebe9d

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[yuki-takagi-66]

LGTM