feat(lidar_apollo_instance_segmentation, tensorrt_common): use onnx instead of caffe for apollo cnnseg

[wep21]

Description

🤖 Generated by Copilot at 3b4cb35

This pull request updates the lidar_apollo_instance_segmentation package and its dependencies to use the new TensorRT and CUDA libraries for faster and more robust lidar-based instance segmentation. It also improves the code quality, style, and consistency of the package by adding namespaces, include guards, license headers, and fixing typos and braces. It also simplifies the launch file and the .gitignore file by using the .onnx format for the neural network models.

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Tests performed

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (1ca02e1) 12.40% compared to head (3966df6) 12.40%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3320      +/-   ##
==========================================
- Coverage   12.40%   12.40%   -0.01%     
==========================================
  Files        1368     1368              
  Lines       96191    96189       -2     
  Branches    27724    27724              
==========================================
- Hits        11931    11930       -1     
+ Misses      71594    71592       -2     
- Partials    12666    12667       +1     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	12.40% <ø> (+<0.01%)	⬆️	Carriedforward from 98d8fe3

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

Impacted Files	Coverage Δ
...e/lidar_apollo_instance_segmentation/cluster2d.hpp	0.00% <ø> (ø)
...de/lidar_apollo_instance_segmentation/debugger.hpp	0.00% <ø> (ø)
...de/lidar_apollo_instance_segmentation/detector.hpp	0.00% <ø> (ø)
...idar_apollo_instance_segmentation/disjoint_set.hpp	0.00% <ø> (ø)
...apollo_instance_segmentation/feature_generator.hpp	0.00% <ø> (ø)
...lidar_apollo_instance_segmentation/feature_map.hpp	0.00% <ø> (ø)
...nclude/lidar_apollo_instance_segmentation/node.hpp	0.00% <ø> (ø)
...nclude/lidar_apollo_instance_segmentation/util.hpp	0.00% <ø> (ø)
...dar_apollo_instance_segmentation/src/cluster2d.cpp	0.00% <0.00%> (ø)
...idar_apollo_instance_segmentation/src/debugger.cpp	0.00% <ø> (ø)
... and 5 more

... and 1 file with indirect coverage changes

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[wep21]

before(caffe)
Screencast from 04-10-2023 12:22:08 AM.webm
after(onnx)
Screencast from 04-10-2023 12:30:08 AM.webm

[yukkysaito]

Thank you for PR 👍

[yukkysaito]

@miursh @yukke42 Pls check this PR by TIER IV perception team 👍

[manato]

@wep21
Thank you for PR. Regarding common/tensorrt_common, it looks good to me. Also, I confirmed that this PR's modification does not have negative effect for building/executing tensorrt_yolox

[miursh]

Just few questions

[miursh]

It looks like apollo cnn is working well.

[miursh]

LGTM

[manato]

LGTM

[wep21]

@yukkysaito You're the code owner of lidar_apollo_instance_segmentation, so I appreciate it if you could approve this PR.