feat: add average intensity check parameter

to lidar marker localizer
disabled in default

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>

Author: Motsu-san

autoware_launch/config/localization/lidar_marker_localizer/top_left/lidar_marker_localizer.param.yaml

@@ -21,6 +21,9 @@
     positive_match_num_threshold: 3
     negative_match_num_threshold: 3
     vote_threshold_for_detect_marker: 20
+    # Maximum threshold for average intensity (disabled when 0.0).
+    # To prevent false detection on surfaces directly facing the LiDAR receiver, matching is disabled when this value is exceeded.
+    max_average_intensity_threshold: 0.0
     marker_to_vehicle_offset_y: 2.3
     marker_height_from_ground: 1.075
     lower_ring_id_init: 128

autoware_launch/config/localization/lidar_marker_localizer/top_right/lidar_marker_localizer.param.yaml

@@ -21,6 +21,9 @@
     positive_match_num_threshold: 3
     negative_match_num_threshold: 3
     vote_threshold_for_detect_marker: 20
+    # Maximum threshold for average intensity (disabled when 0.0).
+    # To prevent false detection on surfaces directly facing the LiDAR receiver, matching is disabled when this value is exceeded.
+    max_average_intensity_threshold: 0.0
     marker_to_vehicle_offset_y: -2.3
     marker_height_from_ground: 1.075
     lower_ring_id_init: 128