feat(compare_map_segmentation): change height downsize logic (#6429)

* fix: change height downsize logic

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* changed inclusion model from sphere to cube

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

Author: YoshiRi

perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp

@@ -241,8 +241,10 @@ bool VoxelGridMapLoader::is_in_voxel(
     const double dist_x = map->points.at(voxel_index).x - target_point.x;
     const double dist_y = map->points.at(voxel_index).y - target_point.y;
     const double dist_z = map->points.at(voxel_index).z - target_point.z;
-    const double sqr_distance = dist_x * dist_x + dist_y * dist_y + dist_z * dist_z;
-    if (sqr_distance < distance_threshold * distance_threshold * downsize_ratio_z_axis_) {
+    // check if the point is inside the distance threshold voxel
+    if (
+      std::abs(dist_x) < distance_threshold && std::abs(dist_y) < distance_threshold &&
+      std::abs(dist_z) < distance_threshold * downsize_ratio_z_axis_) {
       return true;
     }
   }