feat(autoware_pointcloud_preprocessor): add roi excluded downsample

[kaancolak]

Description

This filter provides selective downsampling that preserves detailed point data in critical regions while reducing overall point cloud density:

1. Points are classified based on their position relative to a defined Region of Interest (ROI)
2. Points inside the ROI are preserved at their original density (no downsampling)
3. Points outside the ROI undergo standard voxel grid downsampling
4. The final output combines both sets of points

The main purpose is to detect long-range stationary vehicles on the road, such as those stopped at an intersection or traffic light. With the point cloud densifier node, points at a distance will be densified and downsampling will not be applied in this densified area thanks to the roi excluded voxel-based downsampling operation.

2025-03-05.15-12-08.mp4

Parent Issue:

• Relevant issue : Add pointcloud_densifier package #10225
  Relevant issue: feat(autoware_pointcloud_preprocessor): add pointcloud_densifier package #10226

Private Links:

• Tier4 internal link

How was this PR tested?

Notes for reviewers

run -> ros2 launch autoware_pointcloud_preprocessor roi_excluded_voxel_grid_downsample_filter.launch.xml

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 1.19048% with 166 lines in your changes missing coverage. Please review.

Project coverage is 26.35%. Comparing base (4649cf6) to head (5938dd6).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...i_excluded_faster_voxel_grid_downsample_filter.cpp	0.00%	113 Missing ⚠️
...roi_excluded_voxel_grid_downsample_filter_node.cpp	2.17%	45 Missing ⚠️
...i_excluded_faster_voxel_grid_downsample_filter.hpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10233      +/-   ##
==========================================
- Coverage   26.40%   26.35%   -0.05%     
==========================================
  Files        1390     1393       +3     
  Lines      107719   107904     +185     
  Branches    41501    41578      +77     
==========================================
+ Hits        28442    28443       +1     
- Misses      76442    76626     +184     
  Partials     2835     2835              

Flag	Coverage Δ		*Carryforward flag
differential	23.55% <1.19%> (?)
differential-cuda	21.37% <1.19%> (?)
total	26.40% <ø> (-0.01%)	⬇️	Carriedforward from b4559fd

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