fix(autoware_lidar_transfusion): fixed rounding errors that caused illegal memory access

[knzo25]

Description

In centerpoint #9795
we encountered rounding errors resulting from floating precision arithmetic in which points nearing the pointcloud ranges would generate invalid voxel ids. Since it is not a heavy operation, we decided to clip the values which makes it a little more resilient.

[component_container_mt-1] ERROR | voxel_idx=480, voxel_idy=189, voxel_index=-291 grid_x_size=480 grid_y_size=480 point.x=76.799995 point.y=-16.133558 point.z=5.022423 min_x_range=-76.800003 min_y_range=-76.800003 min_z_range=-4.000000 max_x_range=76.800003 max_y_range=76.800003 max_z_range=6.000000

Transfusion uses a different way of generating voxel ids, which makes the problem a bug, but not one that causes cuda errors, so it probably was silent until now 😱

Related links

Parent Issue:

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How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.58%. Comparing base (7fb4c1b) to head (f87bb93).
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9796      +/-   ##
==========================================
- Coverage   29.62%   29.58%   -0.04%     
==========================================
  Files        1452     1452              
  Lines      108921   108874      -47     
  Branches    42577    42562      -15     
==========================================
- Hits        32265    32211      -54     
- Misses      73421    73572     +151     
+ Partials     3235     3091     -144     

Flag	Coverage Δ		*Carryforward flag
differential-cuda	4.31% <ø> (?)
total	29.58% <ø> (-0.04%)	⬇️	Carriedforward from a479120

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[amadeuszsz]

LGTM