* perception: clean visualizer tool code and log

* perception: clean opengl_visualizer code and log

* Perception: fix code style and timestamp issues

* Perception: add confidence type, lidar and radar confidence

* Perception: change unknown to 0

* perception: change to use velocity of localization pose

* perception: fix issues

* perception: fix object level timestamp

* perception: add export sensor data tool

* format a doxygen style in perception, serve as a template

* planning: relax change lane condition

* planning: move decider to reference line info

* perception: fix object level timestamp

* perception: fill in radar latest_tracked_timestamp