Do not estimate shape for all clusters
Description
As of now, we estimate the shape of every cluster we detect. Following the discussion in !1140 (comment 666457687) it seems to make sense to not do this but to estimate the shape of the objects only when they reach the tracker and only when their class is available. This issue tracks the transition towards this new paradigm.
Alternatively, we could estimate a convex hull per cluster instead of the box. It should look better for now. The box could be estimated when we assign the shape to the track.
Definition of Done
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Clusters don't have their shape estimated -
The tracker code is adapted accordingly to accept raw clusters in addition to (or instead of) the DetectedObjects
Edited by Igor Bogoslavskyi