feat(pointpainting): refined the fusion callback and updated the model

[tzhong518]

Description

• refined the pointpainting_fusion callback
  • corrections for fusion callback and timer callback
  • use class names and order in config
  • multi thread
  • replace division with multiplication
• updated the v3 model

Related links

Tests performed

• Please refer to this page to test the package: https://tier4.atlassian.net/wiki/spaces/~459732634/pages/2788327823/pointpainting
  ros2 launch image_projection_based_fusion pointpainting_fusion.launch.xml input/rois0:=/perception/object_recognition/detection/rois0 input/camera_info0:=/sensing/camera/camera0/camera_info input/rois1:=/perception/object_recognition/detection/rois1 input/camera_info1:=/sensing/camera/camera1/camera_info input/rois2:=/perception/object_recognition/detection/rois2 input/camera_info2:=/sensing/camera/camera2/camera_info input/rois3:=/perception/object_recognition/detection/rois3 input/camera_info3:=/sensing/camera/camera3/camera_info input/rois4:=/perception/object_recognition/detection/rois4 input/camera_info4:=/sensing/camera/camera4/camera_info input/rois5:=/perception/object_recognition/detection/rois5 input/camera_info5:=/sensing/camera/camera5/camera_info input/rois_number:=6 input/pointcloud:=/sensing/lidar/top/outlier_filtered/pointcloud

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -1.14 ⚠️

Comparison is base (8e2f26e) 15.04% compared to head (f8e2f0c) 13.90%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4314      +/-   ##
==========================================
- Coverage   15.04%   13.90%   -1.14%     
==========================================
  Files        1508     1444      -64     
  Lines      103805   101333    -2472     
  Branches    31727    26875    -4852     
==========================================
- Hits        15615    14088    -1527     
- Misses      71160    71788     +628     
+ Partials    17030    15457    -1573     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	13.92% <0.00%> (-1.12%)	⬇️	Carriedforward from c3fb1dc

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

Impacted Files	Coverage Δ
...er4_state_rviz_plugin/src/autoware_state_panel.cpp	0.00% <ø> (ø)
.../image_projection_based_fusion/src/fusion_node.cpp	0.00% <0.00%> (ø)
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00% <ø> (ø)
...ion/src/pointpainting_fusion/pointpainting_trt.cpp	0.00% <ø> (ø)
...sion/src/pointpainting_fusion/preprocess_kernel.cu	0.00% <ø> (ø)
...usion/src/pointpainting_fusion/voxel_generator.cpp	0.00% <ø> (ø)

... and 534 files with indirect coverage changes

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[yukke42]

@tzhong518
Cloud you check again? Bounding boxes don't matches the pointcloud.

[yukke42]

[yukke42]

LGTM

[miursh]

video_1280.mp4