feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method

[yukke42]

Description

I plan to add a feature roi_detected_object_fusion to fuse ROIs from images and Detected Objects, but the most of the implementation is the same as roi_cluster_fusion. Therefore, I created a new package image_projection_based_fusion and it has these two packages.

roi_cluster_fusion:

• The latest tf is used to transform from the frame_id of a cluster to that of an ROI. I changes to use tf at the stamp of a ROI.

roi_detected_object_fusion:

• The fusion algorithm is the same as roi_cluster_fusion, except that a classification label of a detected object doesn't have UNKNOWN.

Related links

tier4/autoware_launch#274

Tests performed

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[codecov]

Codecov Report

Merging #548 (40527ba) into main (151ee70) will decrease coverage by 0.05%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #548      +/-   ##
==========================================
- Coverage   10.59%   10.54%   -0.06%     
==========================================
  Files         735      741       +6     
  Lines       51761    52009     +248     
  Branches     6596     6596              
==========================================
  Hits         5482     5482              
- Misses      41819    42067     +248     
  Partials     4460     4460              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.61% <0.00%> (+0.02%)	⬆️	Carriedforward from 765e663

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

Impacted Files	Coverage Δ
...lude/image_projection_based_fusion/fusion_node.hpp	0.00% <0.00%> (ø)
...ion/image_projection_based_fusion/src/debugger.cpp	0.00% <0.00%> (ø)
.../image_projection_based_fusion/src/fusion_node.cpp	0.00% <0.00%> (ø)
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00% <0.00%> (ø)
...sed_fusion/src/roi_detected_object_fusion/node.cpp	0.00% <0.00%> (ø)
...age_projection_based_fusion/src/utils/geometry.cpp	0.00% <0.00%> (ø)
.../image_projection_based_fusion/src/utils/utils.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	25.00% <ø> (ø)
...ner/src/scene_module/occlusion_spot/grid_utils.cpp	16.78% <0.00%> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
... and 16 more

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[yukkysaito]

I changed to draft

[yukkysaito]

may take some time to review.

[yukke42]

I found that 2d-3d projeciton fails on some images, so I'll fix it.

It's a bug of a debugger. fixed at 946a705

[yukke42]

The PR to launcher is created at tier4/autoware_launch#274

[miursh]

LGTM