fix(multigrid_ndt_omp_impl): changed counting timing and break confition for nr_iterations

[SakodaShintaro]

changed counting timing and break confition for nr_iterations

to be the same as the original pcl ndt.hpp.

https://github.com/PointCloudLibrary/pcl/blob/424c1c6a0ca97d94ca63e5daff4b183a4db8aae4/registration/include/pcl/registration/impl/ndt.hpp#L73-L180

Evaluation

I degraded the accuracy of the localization and set NDT to run at its maximum iterations, then ran Autoware.

(The value of the nr_iterations result is now also logged.)

Before

1697693397.9528966 [ndt_scan_matcher-32] �[33m[WARN 1697693397.950331137] [localization.pose_estimator.ndt_scan_matcher]: The number of iterations has reached its upper limit. The number of iterations: 32, Limit: 32 (validate_num_iteration() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:667)�[0m
1697693397.9645364 [ndt_scan_matcher-32] �[33m[WARN 1697693397.950700494] [localization.pose_estimator.ndt_scan_matcher]: ndt_result.iteration_num = 32 (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:470)�[0m
1697693397.9658964 [ndt_scan_matcher-32] �[33m[WARN 1697693397.950753594] [localization.pose_estimator.ndt_scan_matcher]: Nearest Voxel Transformation Likelihood is below the threshold. Score: 2.252171, Threshold: 2.300000 (validate_score() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:681)�[0m
1697693397.9663808 [ndt_scan_matcher-32] �[33m[WARN 1697693397.950843704] [localization.pose_estimator.ndt_scan_matcher]: Not Converged (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:479)�[0m
1697693398.1865647 [ndt_scan_matcher-32] �[33m[WARN 1697693398.184562626] [localization.pose_estimator.ndt_scan_matcher]: The number of iterations has reached its upper limit. The number of iterations: 32, Limit: 32 (validate_num_iteration() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:667)�[0m
1697693398.1926742 [ndt_scan_matcher-32] �[33m[WARN 1697693398.189360289] [localization.pose_estimator.ndt_scan_matcher]: ndt_result.iteration_num = 32 (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:470)�[0m
1697693398.1938219 [ndt_scan_matcher-32] �[33m[WARN 1697693398.189526006] [localization.pose_estimator.ndt_scan_matcher]: Nearest Voxel Transformation Likelihood is below the threshold. Score: 2.273700, Threshold: 2.300000 (validate_score() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:681)�[0m

The maximum value for ndt_result.iteration_num is 32.

After

1697693659.0905447 [ndt_scan_matcher-32] �[33m[WARN 1697693659.079994469] [localization.pose_estimator.ndt_scan_matcher]: Not Converged (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:479)�[0m
1697693659.4372418 [ndt_scan_matcher-32] �[33m[WARN 1697693659.434358792] [localization.pose_estimator.ndt_scan_matcher]: ndt_result.iteration_num = 30 (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:470)�[0m
1697693659.4378357 [ndt_scan_matcher-32] �[33m[WARN 1697693659.434570744] [localization.pose_estimator.ndt_scan_matcher]: Nearest Voxel Transformation Likelihood is below the threshold. Score: 2.298781, Threshold: 2.300000 (validate_score() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:681)�[0m
1697693659.4379599 [ndt_scan_matcher-32] �[33m[WARN 1697693659.434605390] [localization.pose_estimator.ndt_scan_matcher]: Not Converged (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:479)�[0m
1697693659.6430864 [ndt_scan_matcher-32] �[33m[WARN 1697693659.641192762] [localization.pose_estimator.ndt_scan_matcher]: ndt_result.iteration_num = 30 (callback_sensor_points() at /home/shintarosakoda/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:470)�[0m

The maximum value for ndt_result.iteration_num is 30.

[SakodaShintaro]

With this change, the minimum number of nr_iterations has been reduced from two to one.
I have determined that there is no negative impact on the accuracy, so this pr is merged.