feat(extrinsic_ground_plane_calibrator): redesign, generalization, and improvement of the calibrator

[knzo25]

Description

The following changes were implemented:

• This calibrator was originally designed for its use only for X1-related projects, but we may want to use for XX1/XX2 projects, so some changed were needed to make ir more general (tf assumptions)
• The simple filtering was improved and has a final step using inliers from different timestamps
• Added an outlier filter for scenes in which ransac is slow
• Added documentation

Related links

TIER IV INTERNAL LINK TIER IV INTERNAL LINK

Tests performed

Notes for reviewers

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[knzo25]

@drwnz Addressed the review comments :pray:

[codecov-commenter]

Codecov Report

Attention: 141 lines in your changes are missing coverage. Please review.

Comparison is base (880695b) 1.01% compared to head (77bb6fd) 0.00%.

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Additional details and impacted files

```diff @@ Coverage Diff @@ ## tier4/universe #97 +/- ## ================================================= - Coverage 1.01% 0.00% -1.02% ================================================= Files 262 4 -258 Lines 20040 477 -19563 Branches 387 0 -387 ================================================= - Hits 203 0 -203 + Misses 19683 477 -19206 + Partials 154 0 -154 ``` | [Flag](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `0.00% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#carryforward-flags-in-the-pull-request-comment) to find out more. | [Files](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [...nclude/extrinsic\_ground\_plane\_calibrator/utils.hpp](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#diff-c2Vuc29yL2V4dHJpbnNpY19ncm91bmRfcGxhbmVfY2FsaWJyYXRvci9pbmNsdWRlL2V4dHJpbnNpY19ncm91bmRfcGxhbmVfY2FsaWJyYXRvci91dGlscy5ocHA=) | `0.00% <0.00%> (ø)` | | | [...librator/src/extrinsic\_ground\_plane\_calibrator.cpp](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#diff-c2Vuc29yL2V4dHJpbnNpY19ncm91bmRfcGxhbmVfY2FsaWJyYXRvci9zcmMvZXh0cmluc2ljX2dyb3VuZF9wbGFuZV9jYWxpYnJhdG9yLmNwcA==) | `0.00% <0.00%> (ø)` | | ... and [259 files with indirect coverage changes](https://app.codecov.io/gh/tier4/CalibrationTools/pull/97/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4)

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