fix(ground_segmentation): add omp parallel for

[badai-nguyen]

Description

🤖[deprecated] Generated by Copilot at 5cb8eab

This pull request enhances the scan_ground_filter_nodelet class in the perception/ground_segmentation package by parallelizing and refactoring its point cloud processing logic. It uses OpenMP to speed up the classification of points into ground and non-ground segments, and it simplifies the input and output of some functions by using vectors of point indices.

Related Link

TIER IV INTERNAL LINK

Tests performed

I've tested by logging_simulator on my PC using sample-rosbag and internal bus rosbag and confirmed the processing time of ground_segmentation is decreased.

-	Current	After change
sample-rosbag
Bus rosbag

I've also tested on the test bench pc for xx1 and the result shows that with suitable omp_set_num_threads or without set omp_set_num_threads, the processing_time is improved 22%.

OMP setup	scan_ground_segmentation processing_time	average
no OMP		45ms
OMP omp_set_num_threads: 1		45ms
OMP omp_set_num_threads: 2		40ms
omp_set_num_threads: 10threads		35m
omp_set_num_threads no set		35ms

Effects on system behavior

Not applicable.

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[miursh]

@badai-nguyen do you have any plans for this PR, or should we close it for now?

[badai-nguyen]

@miursh I'm sorry for missed your mention. I updated the result I tested this PR on Bench PC which shows the decrease of processing_time so I will open it and hope can merge this PR. Could you review or assign someone to review it?

[codecov]

Codecov Report

Attention: Patch coverage is 71.42857% with 2 lines in your changes missing coverage. Please review.

Project coverage is 14.65%. Comparing base (b86a00d) to head (696d2c3).
Report is 534 commits behind head on main.

Files	Patch %	Lines
...nd_segmentation/src/scan_ground_filter_nodelet.cpp	71.42%	2 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5791   +/-   ##
=======================================
  Coverage   14.64%   14.65%           
=======================================
  Files        1899     1899           
  Lines      130282   130278    -4     
  Branches    38311    38303    -8     
=======================================
+ Hits        19083    19087    +4     
+ Misses      89784    89782    -2     
+ Partials    21415    21409    -6     

Flag	Coverage Δ		*Carryforward flag
differential	34.30% <71.42%> (?)
total	14.64% <ø> (-0.01%)	⬇️	Carriedforward from b86a00d

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.