perf(image_projection_based_fusion,lidar_centerpoint): add cuda preprocess

[tkimura4]

Description

autowarefoundation#5681
Hotfix to beta/v0.10.6

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

autowarefoundation#5681

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

none

Effects on system behavior

It improves the memory management and performance of the existing ones

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