feat(autoware_lidar_bevfusion): implementation of bevusion using tensorrt

[knzo25]

Description

This PR introduces BEVFusion to autoware using TensorRT.
However, it requires TensorRT10, which is being updated here
As such, this PR will remain as a draft until the previous PR gets merged.

In addition, the following dependencies are needed:

• cuda-nvrtc-dev-12-4
• spconv

A PR will be send to add nvrtc to autoware.
For spconv, two alternatives were talked with the AWF:

• compile from source -> problems with the CI/CD
• deb package (implemented here)

The onnx files will be provided after during the review of this PR of at the point of merging
I would like to ask reviewers to let the "integration" into the pipeline/launchers to a posterior PR 🙏

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[xmfcx]

• Is this related to feat(autoware_tensorrt_bevdet): add new 3d object detection method #7956 ?

[knzo25]

@xmfcx
Although both use viewtransform, they are different papers and modalities
https://arxiv.org/pdf/2112.11790
https://arxiv.org/pdf/2205.13542

[knzo25]

As TensorRT was upgraded and spconv was added (autowarefoundation/autoware#5794), I will be opening this PR 🎉

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 26.79%. Comparing base (3677bda) to head (1b12f00).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10024      +/-   ##
==========================================
+ Coverage   26.41%   26.79%   +0.37%     
==========================================
  Files        1387     1394       +7     
  Lines      107397   107901     +504     
  Branches    41257    41522     +265     
==========================================
+ Hits        28373    28909     +536     
+ Misses      76186    76121      -65     
- Partials     2838     2871      +33     

Flag	Coverage Δ		*Carryforward flag
differential	3.48% <ø> (?)
differential-cuda	2.36% <ø> (?)
total	26.79% <ø> (+0.37%)	⬆️	Carriedforward from 1fb3ad2

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