feat(pointcloud_preprocessor): add data layout check utils

[VRichardJP]

Description

Several filters somewhat assume the input data layout is compatible with PointXYZI or PointXYZIRADRT to do faster data copy. However these assumptions are never verified, leading to hard-to-detect bugs such as #2618

I introduce 2 utils functions is_data_layout_compatible_with_PointXYZI and is_data_layout_compatible_with_PointXYZIRADRT to make the data layout verification task easy.

For example, the current ring_outlier_filter assumes the input data layout is the same as PointXYZIRADRT. As pointed out here this is not the case. Such issue would have been easily detected with a simple check such as:

void RingOutlierFilterComponent::filter(
  const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
  PointCloud2 & output)
{
  if (!utils::is_data_layout_compatible_with_PointXYZI(*input)) {
    RCLCPP_ERROR(get_logger(), "Invalid input data layout. Output may be incorrect");
  }

Note: this PR only introduce the util functions. More PR are necessary to use them in the relevant filters.

Tests performed

With the snippet above, issue #2618 would have been detected immediately:

[component_container_mt-1] [ERROR 1680848531.443909204] [sensing.lidar.top.ring_outlier_filter]: Invalid input data layout. Output may be incorrect (filter() at /home/sig/autoware/src/universe/autoware.universe/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp:53)

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[yukkysaito]

LGTM

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (93e040a) 12.33% compared to head (45d00d3) 12.33%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3306      +/-   ##
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- Coverage   12.33%   12.33%   -0.01%     
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  Files        1381     1381              
  Lines       96692    96750      +58     
  Branches    27978    27978              
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  Hits        11930    11930              
- Misses      72094    72152      +58     
  Partials    12668    12668              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	12.33% <ø> (ø)		Carriedforward from 93e040a

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
.../pointcloud_preprocessor/src/utility/utilities.cpp	0.00% <0.00%> (ø)

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[miursh]

@VRichardJP I have just merged some of your PRs. If there is any problem, please let me know.