feat(map_tf_generator): accelerate the 'viewer' coordinate calculation

[IshitaTakeshi]

Description

Accelerated the 'viewer' tf calculation by randomly sampling map points

I found that all map points are used to calculate the tf viewer coordinate so I randomly sampled only a few points from the map for faster calculation

Related links

Tests performed

Tested the random sampling function
The test checks

• if the random index range is within [0, point size)
• if the random index vector has the expected length

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[codecov]

Codecov Report

Merging #890 (f12e334) into main (7307ce7) will increase coverage by 0.00%.
The diff coverage is 47.61%.

@@          Coverage Diff          @@
##            main    #890   +/-   ##
=====================================
  Coverage   9.53%   9.54%           
=====================================
  Files        931     933    +2     
  Lines      57687   57714   +27     
  Branches   10403   10408    +5     
=====================================
+ Hits        5502    5510    +8     
- Misses     47656   47672   +16     
- Partials    4529    4532    +3     

Flag	Coverage Δ		*Carryforward flag
differential	20.40% <52.63%> (?)
total	9.53% <0.00%> (-0.01%)	⬇️	Carriedforward from 93384d4

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
map/map_tf_generator/src/map_tf_generator_node.cpp	0.00% <0.00%> (ø)
map/map_tf_generator/test/test_uniform_random.cpp	57.14% <57.14%> (ø)
...erator/include/map_tf_generator/uniform_random.hpp	100.00% <100.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp	32.96% <0.00%> (-2.20%)	⬇️

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[IshitaTakeshi]

Anything more to fix?

[kenji-miyake]

Maybe not so much, I'll re-check it tonight.

[yukkysaito]

When it use random numbers to determine the viewer frame, the view position of rviz changes every time. Is it possible to do this without using random numbers?

[yukkysaito]

For example,

Step = Pointcloud size / sampling number
for (i) {
  pointcloud.at(Step * i)
}

[kenji-miyake]

I think it's good!
#890 (comment)

[IshitaTakeshi]

@yukkysaito How about fixing the random seed?

[yukkysaito]

@IshitaTakeshi It's ok 👍