feat(intersection): extract occlusion contour as polygon

[soblin]

Description

This feature replaces the occlusion grid with occlusion polygon and filtering based on its size.

Related links

Tier IV COMPANY INTERNAL LINK
launcher PR: autowarefoundation/autoware_launch#485

Tests performed

Psim

use_occlusion_polygon_scenario-2023-07-28_16.37.36.mp4

Notes for reviewers

Interface changes

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (b8aad73) 14.91% compared to head (80f5f7d) 14.91%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4442      +/-   ##
==========================================
- Coverage   14.91%   14.91%   -0.01%     
==========================================
  Files        1517     1517              
  Lines      104685   104698      +13     
  Branches    31869    31875       +6     
==========================================
  Hits        15613    15613              
- Misses      72035    72047      +12     
- Partials    17037    17038       +1     

Flag	Coverage Δ		*Carryforward flag
differential	7.36% <0.00%> (?)
total	14.91% <ø> (+<0.01%)	⬆️	Carriedforward from b8aad73

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

Files Changed	Coverage Δ
...ehavior_velocity_intersection_module/src/debug.cpp	0.00% <0.00%> (ø)
...avior_velocity_intersection_module/src/manager.cpp	19.32% <0.00%> (ø)
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)
...ior_velocity_intersection_module/src/util_type.hpp	0.00% <ø> (ø)

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