feat(lidar_centerpoint): yaw norm filter

[knzo25]

Description

Added a filter to the centerpoint estimations to ignore detections that have a yaw angle norm below a certain threshold.

Centerpoint rather than estimate the rotation directly, estimates the cosine and sine of the angle.
As such the norm of the cos/sin pair should be unitary, but since the inference does not enforce this property, it may not hold.
Empirically, in those cases where the property does not hold, there is a high chance that the detection is wrong, so we filter them out.

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[knzo25]

@yukke42 should I add a certain value to the parameter from the launcher?

[yukke42]

@yukke42 should I add a certain value to the parameter from the launcher?

@knzo25 Yes, please!

[codecov]

Codecov Report

Merging #1728 (7cdd199) into main (37e8c99) will decrease coverage by 0.53%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1728      +/-   ##
==========================================
- Coverage   10.80%   10.26%   -0.54%     
==========================================
  Files        1217     1204      -13     
  Lines       81490    86657    +5167     
  Branches    20225    20020     -205     
==========================================
+ Hits         8804     8899      +95     
- Misses      63495    68497    +5002     
- Partials     9191     9261      +70     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.26% <0.00%> (-0.54%)	⬇️	Carriedforward from f389eae

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

Impacted Files	Coverage Δ
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00% <0.00%> (ø)
...t/include/lidar_centerpoint/centerpoint_config.hpp	0.00% <0.00%> (ø)
..._centerpoint/lib/postprocess/postprocess_kernel.cu	0.00% <ø> (ø)
perception/lidar_centerpoint/src/node.cpp	0.00% <0.00%> (ø)
...clude/shape_estimation/corrector/car_corrector.hpp	0.00% <0.00%> (ø)
...ception/shape_estimation/lib/filter/car_filter.cpp	0.00% <ø> (ø)
...lanner/scene_module/pull_over/pull_over_module.hpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	0.00% <ø> (-27.78%)	⬇️
...or_path_planner/src/behavior_path_planner_node.cpp	0.22% <0.00%> (+<0.01%)	⬆️
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
... and 714 more

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[knzo25]

@yukke42
Left the parameter with a value of 0.5 in the launcher.
Using a bag from XX1 that I was using for calibration it avoids some 90 degree flips in cars

[yukke42]

LGTM