docs(ekf_localizer): improve ekf_localization readme readability

[Motsu-san]

Description

This is for improvement the ekf_localization docs readability.

• Show diagnostic conditions by table.
• Whiten image background for dark mode appearance.
• Reflect the changes in this PR.

Before

Diagnostic conditions

Equation images

After

Diagnostic conditions

Due to the large size, please see this link

Equation images

Related links

#668

How was this PR tested?

Please see the github page on this branch on both right mode and dark.

Notes for reviewers

This PR will be merged simultaneously with #668.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 50.27%. Comparing base (3101380) to head (c497f08).
⚠️ Report is 101 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #664   +/-   ##
=======================================
  Coverage   50.27%   50.27%           
=======================================
  Files         348      348           
  Lines       22023    22023           
  Branches     9795     9795           
=======================================
  Hits        11071    11071           
  Misses       9877     9877           
  Partials     1075     1075           

Flag	Coverage Δ		*Carryforward flag
daily-humble	50.08% <ø> (-0.01%)	⬇️	Carriedforward from 3101380
daily-jazzy	49.50% <ø> (ø)		Carriedforward from 3101380
differential-humble	55.38% <ø> (?)
total	50.28% <ø> (ø)		Carriedforward from 3101380
total-humble	50.09% <ø> (ø)		Carriedforward from 3101380
total-jazzy	49.50% <ø> (ø)		Carriedforward from 3101380

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

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[mitsudome-r]

It seems like the file size has increased by more than 3 times (4.79 KB to 16.2 KB). Do you know the reason?
It's not a big size in total anyways so I'm okay to merge, but I just wanted to know if there is a way to keep the file size small as possible.

[Motsu-san]

The PNG format supports background transparency (alpha channel), compressing unnecessary parts (in this case, the white background) as transparent data, so it results in smaller file sizes.
The background is dominant in these images, I think it makes sense that adding color to it makes the file size increased by a few times.

[sasakisasaki]

Thank you very much for nice refactoring! 👍

If I understand correctly, perhaps for the pictures in diagnostics (not formula part), I guess we can omit the pictures. Please see the attached picture. It seems the purpose of pictures in diagnostics is to show the default value, plugin name, ... etc. If so, we can write such the information in the table without providing the pictures.

Perhaps I'm missing something. Your feedback is highly appreciated!

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.