perf(image_projection_based_fusion,lidar_centerpoint): add cuda preprocess

[wep21]

Description

🤖[deprecated] Generated by Copilot at 6d9c35d

This pull request refactors and optimizes the code for the pointpainting fusion and centerpoint algorithms for 3D object detection. It introduces new CUDA functions and kernels for voxel generation and feature extraction, and improves the memory management and performance of the existing ones. It also renames and modifies some functions and classes to better reflect their functionality and simplify their interface. The main files affected are pointpainting_trt.hpp, preprocess_kernel.cu, voxel_generator.cpp, and centerpoint_trt.cpp.

Related links

Tests performed

I've tested with rosbag and standalone launch file.
I've confirmed the pre-processing time decreases after implementing this PR.

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Attention: 116 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (0b75afa) 0.00%.
Report is 64 commits behind head on main.

Files	Patch %	Lines
...age_projection_based_fusion/src/utils/geometry.cpp	0.00%	22 Missing ⚠️
...rception/lidar_centerpoint/lib/centerpoint_trt.cpp	0.00%	21 Missing ⚠️
...sion/src/pointpainting_fusion/preprocess_kernel.cu	0.00%	18 Missing ⚠️
...ar_centerpoint/lib/preprocess/preprocess_kernel.cu	0.00%	18 Missing ⚠️
...usion/src/pointpainting_fusion/voxel_generator.cpp	0.00%	13 Missing ⚠️
...ion/src/pointpainting_fusion/pointpainting_trt.cpp	0.00%	9 Missing ⚠️
...dar_centerpoint/lib/preprocess/voxel_generator.cpp	0.00%	8 Missing ⚠️
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00%	7 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #5681       +/-   ##
==========================================
- Coverage   15.32%   0.00%   -15.33%     
==========================================
  Files        1721      35     -1686     
  Lines      118559    1719   -116840     
  Branches    37995       0    -37995     
==========================================
- Hits        18169       0    -18169     
+ Misses      79657    1719    -77938     
+ Partials    20733       0    -20733     

Flag	Coverage Δ
differential	0.00% <0.00%> (?)
total	?

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[yukke42]

I confirmed that it works without any issue and execution time is reduced by this PR.

[yukke42]

average delay of centerpoint: 0.232 → 0.217
average delay of pointpainting: 0.280 → 0.247