Merge occupancy grid and obstacle tracking impl to main#2

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sophtsang wants to merge 29 commits intomainfrom

Commits on Oct 16, 2025

added cev_msgs include
sophtsang
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Commits on Oct 17, 2025

BEV and OBB conversions now work with live cluster outputs from /rslidar_obstacle msg
sophtsang
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Commits on Oct 23, 2025

Merged elements of PointCloud2 array into one PointCloud2 pc, while keeping cluster ids per point. Added #include pcl.
sophtsang
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Commits on Nov 1, 2025

intro to rasterization
sophtsang
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Commits on Nov 5, 2025

Commits on Nov 6, 2025

Commits on Nov 8, 2025

param changes
sophtsang
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Commits on Nov 13, 2025

Commits on Nov 18, 2025

Commits on Nov 19, 2025

another overlay
sophtsang
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Commits on Nov 21, 2025

probably need to parallelize weighting each edge with icp
sophtsang
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Commits on Dec 3, 2025

Commits on Dec 5, 2025

dying inside, at least matches, no way to visualize yet
sophtsang
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Commits on Dec 6, 2025