Implement vision-lidar track creation policy

Description

Track creation inside of the tracker is a tricky task. The naive way of just creating a track from any single input is complicated for a variety of reasons:

• creating tracks from clusters is hard as there are a lot of clusters that we don't want to track
• creating tracks from images is hard as there is no 3D information

So we need to create tracks with a combination of these inputs. A good synergy I am aware of is 3D LiDAR clusters + camera detections, but there might be more. This issue is to track the design and creation of such a module.

Desired Behavior

There is a module (a node or a library) that is able to get different inputs and reliably create tracks from it within the bigger context of the whole tracker and sensor fusion pipeline.

Definition of Done

• There is a configurable track creation procedure
• Track creation procedure that uses vision and lidar is implemented
• Efficiency considerations are taken into account
• Synchronize lidar-vision messages before association