feat(lidar_marker_localizer): average intensity guard on lidar marker localizer

[Motsu-san]

Description

This PR adds a feature to the LiDAR marker localizer that skips pattern matching when the average intensity exceeds a threshold. This prevents false detections from high-intensity surfaces (such as walls) that directly face the LiDAR receiver.

Feature Addition

• New parameter max_average_intensity_threshold
  • Parameter to set the maximum threshold for average intensity
  • Default value: 0.0 (check is disabled when 0.0 or less)
  • During pattern matching, calculates the average intensity within the pattern range and skips the pattern match if it exceeds the threshold

Implementation Details

1. Parameter declaration (lidar_marker_localizer.hpp, lidar_marker_localizer.cpp)

   • Added max_average_intensity_threshold parameter as double type

2. Average intensity check logic (lidar_marker_localizer.cpp)

   • Calculates average intensity within the pattern range during pattern matching
   • Skips pattern match when max_average_intensity_threshold > 0.0 and average intensity is greater than or equal to the threshold
   • Outputs debug log with skip reason

3. Configuration file update (lidar_marker_localizer.param.yaml)

   • Added parameter default value and description comments

Test Addition

Added three test cases:

1. AverageIntensityBelowThreshold

   • Verifies that pattern matching is processed normally when average intensity is below the threshold

2. AverageIntensityAboveThreshold

   • Verifies that pattern matching is skipped when average intensity exceeds the threshold

3. AverageIntensityCheckDisabled

   • Verifies that the check is disabled and processing continues when max_average_intensity_threshold is 0.0 or less

Usage Example

/**:
  ros__parameters:
    # 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: 100.0

Impact

• Backward compatibility: Default value is 0.0, so no impact on existing configurations
• Performance: Minimal overhead for average intensity calculation (only for bins within pattern range)

Related links

The following pull-request must be merged simultaneously.
autowarefoundation/autoware_launch#1741

How was this PR tested?

• the following replay test was done.

1. clone Autoware and do vcs import.
2. Cherry-pick the changes of this pull-request and the related one above in each src repo.
3. Build Autoware.
4. Run unit tests colcon test --packages-select autoware_lidar_marker_localizer and confirm the result colcon test-result --all --verbose --test-result-base build/autoware_lidar_marker_localizer
5. launch with pose_source:=ndt_lidar-marker option and replay Sample rosbag and map .
6. Confirm lidar-marker detection is succeeded.
7. Change max_average_intensity_threshold value to 1.0 in autoware_launch/config/localization/lidar_marker_localizer/top_left/lidar_marker_localizer.param.yaml and autoware_launch/config/localization/lidar_marker_localizer/top_right/lidar_marker_localizer.param.yaml
8. Launch and replay again.
9. Confirm lidar-marker detection is NOT succeeded.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

❌ Patch coverage is 42.91045% with 153 lines in your changes missing coverage. Please review.
✅ Project coverage is 2.83%. Comparing base (d4106f8) to head (018bcb3).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ar_marker_localizer/src/lidar_marker_localizer.cpp	55.28%	90 Missing and 3 partials ⚠️
...autoware_landmark_manager/src/landmark_manager.cpp	0.00%	43 Missing ⚠️
...mator_arbiter/src/stopper/stopper_lidar_marker.hpp	0.00%	12 Missing ⚠️
...imator_arbiter/src/pose_estimator_arbiter_core.cpp	0.00%	3 Missing and 1 partial ⚠️
...ose_estimator_arbiter/src/stopper/base_stopper.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main   #12003       +/-   ##
===========================================
- Coverage   18.36%    2.83%   -15.53%     
===========================================
  Files        1849      975      -874     
  Lines      128005    61057    -66948     
  Branches    45554     9997    -35557     
===========================================
- Hits        23507     1733    -21774     
+ Misses      85042    59198    -25844     
+ Partials    19456      126    -19330     

Flag	Coverage Δ
daily	?
daily-cuda	?
differential	2.83% <42.91%> (?)
total-cuda	?

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[paulsohn]

@Motsu-san cc @KYabuuchi @TaikiYamada4 @YamatoAndo

As we decided to migrate tier4 launchers into autoware_launch repository,
a separate PR for tier4 launchers must be created unless this PR is merged before 2026/02/10 07:00 UTC (16:00 JST)

• https://github.com/orgs/autowarefoundation/discussions/6780
• Migrate tier4_xxx_launcher from autoware_universe into autoware_launch autoware#6774

[Motsu-san]

@paulsohn Thank you for your notice! The conflict has been resolved.