fix(roi_cluster_fusion): add unknown-object removal

[badai-nguyen]

Signed-off-by: badai-nguyen dai.nguyen@tier4.jp

Description

This PR removes the Unknown objects remained after camera rois and clusters fusion. The purpose is to reduce detected obstacles coming from pointclouds such as exhaust gas or dense raindrops.

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[codecov]

Codecov Report

Base: 12.16% // Head: 12.12% // Decreases project coverage by -0.04% ⚠️

Coverage data is based on head (981a14a) compared to base (87641bf).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2701      +/-   ##
==========================================
- Coverage   12.16%   12.12%   -0.04%     
==========================================
  Files        1177     1182       +5     
  Lines       83520    83779     +259     
  Branches    23649    23649              
==========================================
  Hits        10158    10158              
- Misses      62590    62849     +259     
  Partials    10772    10772              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	12.16% <0.00%> (ø)		Carriedforward from 87641bf

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

Impacted Files	Coverage Δ
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00% <0.00%> (ø)
...usion/src/pointpainting_fusion/voxel_generator.cpp	0.00% <0.00%> (ø)
...sion/src/pointpainting_fusion/preprocess_kernel.cu	0.00% <0.00%> (ø)
...ion/src/pointpainting_fusion/pointpainting_trt.cpp	0.00% <0.00%> (ø)
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00% <0.00%> (ø)
...ed_fusion/pointpainting_fusion/voxel_generator.hpp	0.00% <0.00%> (ø)

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[yukkysaito]

I want to remove UNKNOWN objects only for clustering and roi fusion.
If the result with CenterPoint does not match, will it still be output?

[badai-nguyen]

@yukkysaito

I want to remove UNKNOWN objects only for clustering and roi fusion. If the result with CenterPoint does not match, will it still be output?

yes, this only remove UNKNOWN right after fusing clustering and roi, so not-matched results with CenterPoint will be remained.

[yukkysaito]

LGTM