feat(autoware_pointcloud_preprocessor): add roi excluded downsample

[kaancolak]

Description

This filter provides selective downsampling that preserves detailed point data in critical regions while reducing overall point cloud density:

1. Points are classified based on their position relative to a defined Region of Interest (ROI)
2. Points inside the ROI are preserved at their original density (no downsampling)
3. Points outside the ROI undergo standard voxel grid downsampling
4. The final output combines both sets of points

The main purpose is to detect long-range stationary vehicles on the road, such as those stopped at an intersection or traffic light. With the point cloud densifier node, points at a distance will be densified and downsampling will not be applied in this densified area thanks to the roi excluded voxel-based downsampling operation.

2025-03-05.15-12-08.mp4

Parent Issue:

• Relevant issue : Add pointcloud_densifier package #10225
  Relevant issue: feat(autoware_pointcloud_preprocessor): add pointcloud_densifier package #10226

Private Links:

• Tier4 internal link

How was this PR tested?

Notes for reviewers

run -> ros2 launch autoware_pointcloud_preprocessor roi_excluded_voxel_grid_downsample_filter.launch.xml

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 81 lines in your changes missing coverage. Please review.

Project coverage is 24.69%. Comparing base (dce72f5) to head (88cc7b1).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ple_filter/faster_voxel_grid_downsample_filter.cpp	0.00%	64 Missing ⚠️
...ample_filter/voxel_grid_downsample_filter_node.cpp	0.00%	17 Missing ⚠️

Additional details and impacted files

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  Hits        25374    25374              
- Misses      74862    74955      +93     
- Partials     2409     2410       +1     

Flag	Coverage Δ		*Carryforward flag
differential	21.18% <0.00%> (?)
differential-cuda	18.40% <0.00%> (?)
total	24.72% <ø> (+<0.01%)	⬆️	Carriedforward from 93f9994

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[kaancolak]

@YoshiRi @knzo25 @drwnz Could you please check this PR or assign an appropriate reviewer?

[YoshiRi]

@kaancolak
Sorry for late reviewing.
Code itself looks okay to me. But do you really need this filter now?
I mean voxel grid downsample in far distance won't do much filtering, so I wonder if just adding roi cropping function in voxel downsampling filter will satisfy your case and that would be more versatile.

[kaancolak]

onder if just adding roi cropping function in voxel downsampling filter will satisfy your case and that would be more versatile.

Thank you so much for your feedback.

Laser points from a single lidar are mostly dense at a long distance, but this enhancement is functional when multiple lasers which comes different lidar fall on the same object at a long distance.

As you said, making this an optional function makes sense to me.

[kaancolak]

@YoshiRi -san, I updated the code to enable and disable roi exclusion with a single parameter in the voxel grid downsample filter and kept changes minimum. Could you review it when you have a chance?