fix issue#13160

* Perception: reactivate yolo3d camera obstacle detection

* Perception: first change in code review

* Perception: roll back point_cloud.h

This reverts commit c6ee809f.

Build: bugfix for 'cannot convert product of 3 1x1 matrices to scalar' and make modules/perception/camera build pass

2) proto_build_generator
3) py_proto -> py_proto_library using proto_build_generator

* prepare code for multi-scale camera object detection

* add constexpr for const value

* Perception: Add CIPV

Perception: Changed ToDO format

Perception: Reformat lines and added TODO

Perception: Added unit test

* Update fusion_camera_detection_component.cc