feat(image_projection_based_fusion): fix iou geometry function

[YoshiRi]

Description

This PR fixes unintended behavior in geometry function in roi_cluster_fusion.
This is confirmed in roi_cluster_fusion debug related with odaiba experiment.

🤖 Generated by Copilot at 66c556f

Improved the image projection based fusion node by refactoring the code, enhancing the debugging functionality, and fixing some bugs. Added a new Debugger class to manage debug objects and visualize the IOU score. Modified the is_inside and fuseOnSingleImage functions to use a better formula and error handling. Added a new sanitizeROI function to avoid out-of-bound errors.

Tests performed

Tested with odaiba data.

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 35 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (092295a) 15.39%.
Report is 35 commits behind head on main.

Files	Patch %	Lines
...age_projection_based_fusion/src/utils/geometry.cpp	0.00%	22 Missing ⚠️
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00%	7 Missing ⚠️
...usion/src/pointpainting_fusion/voxel_generator.cpp	0.00%	4 Missing ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5568      +/-   ##
==========================================
+ Coverage   15.32%   15.39%   +0.06%     
==========================================
  Files        1721     1702      -19     
  Lines      118559   116117    -2442     
  Branches    37995    36825    -1170     
==========================================
- Hits        18169    17872     -297     
+ Misses      79657    77870    -1787     
+ Partials    20733    20375     -358     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.43% <0.00%> (+0.10%)	⬆️	Carriedforward from 7320d20

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[ktro2828]

LGTM

[yukke42]

LGTM