feat(image_projection_based_fusion): add cache for camera projection

[a-maumau]

Description

This PR introduces a caching feature for calculating raw image projections (unrectifyPoint).
This PR must merged with autowarefoundation/autoware_launch#1275

It introduces the CameraProjection class to handle the related processes. The cache is computed based on specific grid centers, and the projected points are represented using these grid centers. These grid centers are determined by approximation_grid_width_size and approximation_grid_height_size.

For example, when approximation_grid_*_size is set to 1.0 pixel, the grid centers will be created as shown in the following image:

Note that edge pixels ((0, *), (w, *), (*, 0), (*, h)) will be rounded to fall outside the image bounds.

When using caching, memory consumption is calculated as:
ceil(image_width / grid_size_w) * ceil(image_height / grid_size_h) * (4 * 2) * roi_numbers [bytes]

Here, 4 * 2 represents the bytes for two float values.
For example, for an image with dimensions 1440 × 1080, a grid size of 1 pixel, and caching enabled for 6 cameras, the memory consumption is:
(1440 / 1.0) * (1080 / 1.0) * 4 * 2 * 6 / (1024 * 1024) ≈ 71.2 MiB (theoretical).

other changes

• This PR fixes a bug where the camera parameters were used before being properly initialized in pointpainting_fusion.
• take a list input instead of single bool for point_project_to_unrectified_image param

[add speed comparison figure]

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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