Update camera lidar fusion based detection

[kaancolak]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

This task structured over this discussion : https://github.com/orgs/autowarefoundation/discussions/3195

Purpose

Decrease computational cost of camera-lidar detection pipeline.

Possible approaches

1. Add trust distance param to ROI-cluster fusion node, only fuse short-range objects given as a parameter
2. Remove object_range_splitter module from "camera_lidar_fusion_based_detection.launch.xml"
3. Remove one of the object_association_merger modules from "camera_lidar_fusion_based_detection.launch.xml"
4. Convert merging architecture to the given below;

Definition of done

• Update ROI fusion package : feat(image_projection_based_fusion): add trust distance to fusion #2844
• Update ["camera_lidar_fusion_based_detection.launch.xml"] : feat(tier4_perception_launch): update cam/lidar detection architecture #2845
• Update Autoware Universe node diagram : feat(design): update node diagram autoware-documentation#322

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[badai-nguyen]

@kaancolak I think all PRs related to update perception pipeline are merged, so could we close this issue? Any other fix or update is needed?