feat(behavior_velocity): find occlusion more efficiently

[taikitanaka3]

Description

Occupancy Grid is divided to (free space+occupied space) image & occlusion image(eroded with custom 2 by 2 kernel)
this can

• remove redundant grid map occlusion size search
• remove sensing noise

Related links

Tests performed

by

• planning simulator
• scenario simulator

occlusion-2022-04-25_16.34.16.mp4

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[codecov]

Codecov Report

Merging #829 (511510f) into main (5ab1962) will increase coverage by 0.00%.
The diff coverage is 18.33%.

@@          Coverage Diff           @@
##            main    #829    +/-   ##
======================================
  Coverage   9.54%   9.54%            
======================================
  Files        921     921            
  Lines      57273   57422   +149     
  Branches    6830    6932   +102     
======================================
+ Hits        5465    5480    +15     
- Misses     47306   47421   +115     
- Partials    4502    4521    +19     

Flag	Coverage Δ		*Carryforward flag
differential	5.84% <6.38%> (?)
total	9.54% <20.00%> (ø)		Carriedforward from 5ab1962

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

Impacted Files	Coverage Δ
...include/scene_module/occlusion_spot/grid_utils.hpp	0.00% <ø> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	44.44% <ø> (+4.44%)	⬆️
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <ø> (ø)
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/occlusion_spot/grid_utils.cpp	7.07% <15.15%> (-2.72%)	⬇️
...vior_velocity_planner/test/src/test_grid_utils.cpp	30.76% <30.00%> (+5.76%)	⬆️
... and 1 more

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[taikitanaka3]

occlusion-2022-04-25_15.33.21.mp4

[0x126]

LGTM