feat(compare_map_segmentation): tuning compare map filter for lv4 test

[YoshiRi]

Description

EN:

This PR contains cherry pick autowarefoundation#6429
and temporary changes for level 4 low object detection test.

As discussed in autowarefoundation#6439, we can loose compare map based ground filtering by slightly shifting voxel collision point.

The latter should be removed for normal process.

JP:

Lv4認可試験向けの調整です。

AWFの下記のBugfixを取り込みつつ、さらにVoxelGridの判定をやや下側にずらし、計算量を増やさないまま地面点群の除去判定を甘くすることができます。

autowarefoundation#6429

magic numberの0.1が入っているのがそれに該当します。

関連PR：autowarefoundation#6439
でも議論したようにこの0.1は邪道なので然るべき後に消すべきです。

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.