feat(visualize): add support of loading global map origin from yaml

[ktro2828]

What

This PR introduces rendering geometric coordinates from the global map origin and ego position at the particular timestamp even if EgoPose.geocoordinate is None.

The global map origin is parsed from map/global_map_center.pcd.yaml if it is contained.
The expected format of global_map_center.pcd.yaml is as follows:

/**:
  ros__parameters:
    map_origin:
      latitude: 35.223124955115864
      longitude: 138.80245834628386
      elevation: 0.0
      roll: 0.0
      pitch: 0.0
      yaw: 0.0

[github-actions]

☂️ Python Coverage

current status: ❌

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
2142	1443	67%	50%	🟢

New Files

File	Coverage	Status
t4_devkit/viewer/geography.py	50%	🔴
TOTAL	50%	🔴

Modified Files

File	Coverage	Status
t4_devkit/tier4.py	10%	🔴
t4_devkit/viewer/init.py	100%	🟢
t4_devkit/viewer/viewer.py	78%	🔴
TOTAL	62%	🔴

updated for commit: 8354993 by action🐍