Implement NDT Map format validation
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