fix(intersection_occlusion): estimate dynamic occlusion source with triangle

[soblin]

Description

modify the dynamic occlusion estimation by triangle, not by line.
form a triangle with

• the nearest occlusion cell
• and the occluded cell behind that cell
• ego position
  and check if it collides with vehicles inside intersection_area

Related links

Tests performed

https://evaluation.tier4.jp/evaluation/reports/1a7dd4ca-b9df-5114-98e4-a821c072baa3?project_id=prd_jt

before this PR

-2024-03-11_16.58.40.mp4

after this PR

-2024-03-11_16.56.09.mp4

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 22 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (aa84a5e) to head (659a4a5).
Report is 15 commits behind head on main.

Files	Patch %	Lines
...ection_module/src/scene_intersection_occlusion.cpp	0.00%	13 Missing ⚠️
...ehavior_velocity_intersection_module/src/debug.cpp	0.00%	9 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6585      +/-   ##
==========================================
- Coverage   14.78%   14.78%   -0.01%     
==========================================
  Files        1917     1917              
  Lines      132253   132271      +18     
  Branches    39297    39310      +13     
==========================================
  Hits        19550    19550              
- Misses      90876    90894      +18     
  Partials    21827    21827              

Flag	Coverage Δ		*Carryforward flag
differential	4.46% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from aa84a5e

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