feat(pointcloud_preprocessor): calculate visibility score in ring outlier filter

[kyoichi-sugahara]

Description

calculate visibility score based on oulier pointcloud.
This feature is disabled by default with publish_outlier_pointcloud

Tests performed

1. launch logging_simulator with following commnad

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/path_to_your_map vehicle_model:=lexus sensor_model:=aip_xx1 sensing:=true

2. Enabling this feature (for left lidar for example) with following command

ros2 param set /sensing/lidar/top/ring_outlier_filter publish_excluded_points true

3. play rosbag

ros2 bag play --clock -r 0.5 /path_to_your_rosbag

4. output visibility score in the terminal

ros2 topic echo /sensing/lidar/top/ring_outlier_filter/debug/visibility

get the following result

---
stamp:
  sec: 1707114299
  nanosec: 200355584
data: 0.6482204794883728
---
stamp:
  sec: 1707114299
  nanosec: 300320000
data: 0.6338975429534912
---

Effects on system behavior

not applicable

Interface changes

not applicable

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[yukkysaito]

Can you add an algorithm summary to the readme?

[kyoichi-sugahara]

@yukkysaito
Updated document in c61dab9

[knzo25]

@vividf
I will be reviewing:
#6658
#6746

So please review this one in the meantime

Edit: I pasted the wrong links. Now they are the correct ones

[yukkysaito]

LGTM