refactor(perception): rearrange clustering pipeline

[badai-nguyen]

Description

This PR rearrange downsample_filter in clustering pipeline and add low_range_crop_filter to limit hight pointcloud before Euclidean cluster.

Realated link

TIER IV INTERNAL LINK
slack
ticket

Releated PR

Tests performed

Tested result by logging_simulator using internal data.
perception_mode: camera_lidar_fusion_based

perception_mode: lidar_based

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.04% ⚠️

Comparison is base (6e510b4) 15.74% compared to head (a0b6c7b) 15.71%.
Report is 19 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4999      +/-   ##
==========================================
- Coverage   15.74%   15.71%   -0.04%     
==========================================
  Files        1587     1592       +5     
  Lines      109796   110033     +237     
  Branches    33730    33730              
==========================================
  Hits        17288    17288              
- Misses      73883    74120     +237     
  Partials    18625    18625              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	15.74% <ø> (ø)		Carriedforward from 9639f8a

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see 5 files with indirect coverage changes

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[miursh]

It is not change in this PR, but one question.
Is this shape_estimation node necessary?

autoware.universe/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

Lines 129 to 134 in 3d3aa4f

	<group>
	<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
	<arg name="input/objects" value="clusters"/>
	<arg name="output/objects" value="objects_with_feature"/>
	</include>
	</group>

[badai-nguyen]

It is not change in this PR, but one question. Is this shape_estimation node necessary?

autoware.universe/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

Lines 129 to 134 in 3d3aa4f

	<group>
	<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
	<arg name="input/objects" value="clusters"/>
	<arg name="output/objects" value="objects_with_feature"/>
	</include>
	</group>

@miursh It seems the estimated shape isn't used in detection_by_tracker so I think it is unneccessary. I will check carefully and changed it in another PR.

[miursh]

LGTM