feat(lidar_centerpoint): add IoU-based NMS

[yukke42]

Signed-off-by: yukke42 yusuke.muramatsu@tier4.jp

Description

In lidar_centerpoint, center-distance-based non-maximum-suppression (NMS) has been used to remove overlapped objects, but it sometimes fails to do it especially for large objects, s.t. trucks and trailers. I add iou-based NMS to remove overlapped objects without any affects to the small objects.
And then, I change the circle_nms_dist_threshold param not to remove overlapped pedestrians that are close to each other.

before:

after:

Related links

• TIERIV INTERNAL LINK

Tests performed

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[codecov]

Codecov Report

Base: 10.27% // Head: 10.27% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (8c64642) compared to base (88f1dfd).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1935      +/-   ##
==========================================
- Coverage   10.27%   10.27%   -0.01%     
==========================================
  Files        1154     1149       -5     
  Lines       82071    81998      -73     
  Branches    19102    19050      -52     
==========================================
- Hits         8436     8428       -8     
+ Misses      64492    64447      -45     
+ Partials     9143     9123      -20     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.27% <0.00%> (+<0.01%)	⬆️	Carriedforward from 0014e35

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

Impacted Files	Coverage Δ
...on/tier4_planning_rviz_plugin/src/path/display.cpp	0.00% <0.00%> (ø)
...enterpoint/postprocess/non_maximum_suppression.hpp	0.00% <0.00%> (ø)
...rpoint/lib/postprocess/non_maximum_suppression.cpp	0.00% <0.00%> (ø)
perception/lidar_centerpoint/src/node.cpp	0.00% <0.00%> (ø)
...ity_planner/include/scene_module/run_out/utils.hpp	0.00% <ø> (ø)
...ocity_planner/src/scene_module/run_out/manager.cpp	0.00% <0.00%> (ø)
...elocity_planner/src/scene_module/run_out/scene.cpp	0.00% <0.00%> (ø)
system/default_ad_api/src/routing.cpp	33.33% <0.00%> (-4.17%)	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️
...ctory_follower/src/pid_longitudinal_controller.cpp	37.05% <0.00%> (-0.06%)	⬇️
... and 42 more

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[knzo25]

Unrelated to the current PR, but maybe DONWLOAD_BASE_URL to DOWNLOAD_BASE_URL as indicated by the spell checker

[knzo25]

Just left some nitpick-like comments.
I also confirmed that the PR works as expected.

[knzo25]

Other than the typo, LGTM

Unknown word (DONWLOAD)

[yukke42]

Other than the typo, LGTM

Unknown word (DONWLOAD)

Thank you. I fixed at 334a4fd.