feat(autoware_image_projection_based_fusion): add mask cluster fusion node

[StepTurtle]

Description

This PR introduces a new node for fusing instance segmentation results with clusters, assigning label values to the clusters. It serves as an alternative to the roi_cluster_fusion node, which relies on bounding boxes.

Following table shows results with old and new approach:

Node	Parameters	Result Video
roi_cluster_fusion	only_allow_inside_cluster = false	https://github.com/user-attachments/assets/63fbb81d-5ae5-4d28-8918-1763789afa81
roi_cluster_fusion	only_allow_inside_cluster = true	https://github.com/user-attachments/assets/c9f966d2-60b6-49b3-bcb4-88ae998be4a2
mask_cluster_fusion	default	https://github.com/user-attachments/assets/f450af0c-a6af-49d0-9b78-1b089f65f577

Related links

Parent Issue:

• Implement RTMDet to Perception Pipeline #7235

How was this PR tested?

Testers can follow these steps to test PR.

1) Download the pre-trained RTMDet model:

gdown https://drive.google.com/drive/folders/1P1JyMrstJIN9Y4F947nUkbKxQ2JDntgF?usp=drive_link -O ~/autoware_data/ --folder

2) For autoware use following PR:

• feat(autoware.repos): add trt_batched_nms repository autoware#5493

3) For autoware_internal_msgs use following PR:

• feat(SegmentationMask): add instance segmentation message autoware_internal_msgs#23

4) For autoware.universe use this and following PR:

• feat(autoware_tensorrt_rtmdet): add tensorrt rtmdet model #8165

5) Build your Autoware workspace with new changes.

6) Run e2e or logging simulator.

7) Update the topic parameters from launch/rtmdet.launch.xml and run the launch file

ros2 launch autoware_tensorrt_rtmdet rtmdet.launch.xml

8) Update the topic parameters from launch/mask_cluster_fusion.launch.xml and run the launch file

ros2 launch autoware_image_projection_based_fusion mask_cluster_fusion.launch.xml

• You should able to see newly added label names for cluster from /perception/object_recognition/detection/clustering/camera_lidar_fusion/clusters topic.

Notes for reviewers

• Documentation is not ready right now, it will be added ASAP.

Interface changes

None.

Effects on system behavior

None.

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