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Implement NDT Map format validation

Yunus Emre Çalışkan requested to merge 137-ndt-map-format-validation into master

Description

This MR implements a map format validation function that validates and returns a PointCloud2 message. The expected specs/metadata of the point cloud message can be viewed at #137 (closed).

  • For more details, see the issue which will be linked below.

Notes for Reviewer

  • The style fix commit can be ignored, it's only there to pass the linters.
  • Currently metadata inconsistency in the data size is ignored and the usable number of points is returned according to the following formula where the result is rounded:

\frac {min(data.size(), width, row\_step)}{point\_step}

  • I didn't add a design document as it's just a free function.
  • You can watch-out for some corner cases i may be missing

Checklist

Closes #137 (closed)

Edited by Yunus Emre Çalışkan

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