fix(autoware_lidar_centerpoint): fixed rounding errors that caused illegal memory access

[knzo25]

Description

We encountered rounding errors resulting from floating precision arithmetic in which points nearing the pointcloud ranges would generate invalid voxel ids. Since it is not a heavy operation, we decided to clip the values which makes it a little more resilient.

[component_container_mt-1] ERROR | voxel_idx=480, voxel_idy=189, voxel_index=-291 grid_x_size=480 grid_y_size=480 point.x=76.799995 point.y=-16.133558 point.z=5.022423 min_x_range=-76.800003 min_y_range=-76.800003 min_z_range=-4.000000 max_x_range=76.800003 max_y_range=76.800003 max_z_range=6.000000

Related links

Parent Issue:

• Link

How was this PR tested?

Run the logging simulator 20 times.
Before this PR, and for a particular rosbag, we encountered the issue with a reproduction rate of about 1 in 4.

Evaluator:
TIER IV INTERNAL LINK

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.61%. Comparing base (7fb4c1b) to head (bfb4d61).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9795      +/-   ##
==========================================
- Coverage   29.62%   29.61%   -0.02%     
==========================================
  Files        1452     1452              
  Lines      108921   108875      -46     
  Branches    42577    42562      -15     
==========================================
- Hits        32265    32240      -25     
- Misses      73421    73542     +121     
+ Partials     3235     3093     -142     

Flag	Coverage Δ		*Carryforward flag
differential	3.48% <ø> (?)
differential-cuda	6.01% <ø> (?)
total	29.61% <ø> (-0.02%)	⬇️	Carriedforward from ca2d4e7

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

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[knzo25]

@kminoda
TIER IV INTERNAL LINK

Does this test suffice?

[kminoda]

Thanks!!!!!!