feat(pcd_map_validator): create tool for validating pcd maps

map/autoware_pointcloud_map_validator/README.md

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+# Autoware Pointcloud Map Validator
+
+Analyze and visualize point cloud resolution and point-to-point distances.
+
+This script provides comprehensive analysis tools for point cloud data, including:
+
+- Computing resolution (average point-to-point distance) using k-nearest neighbors
+- Visualizing point clouds with color-coded distances
+- Generating distance distribution histograms
+- Supporting both single PCD files and directories of PCD files
+
+```yaml
+Usage:
+    ros2 run autoware_pointcloud_map_validator autoware_pointcloud_checker <input_file> [options]
+    # or
+    python pointcloud_check.py <input_file> [options]
+
+Arguments:
+    input_file          Path to a PCD file or directory containing PCD files
+
+Options:
+    --neighbors, -k     Number of nearest neighbors to consider (default: 3)
+    --threshold        Distance threshold for visualization (default: 0.2)
+    --cache           Enable caching of computed distances to file
+    --output, -o      Output path for saving colored point cloud
+    --histogram       Show histogram of point-to-point distances
+
+Key Features:
+
+- Automatic merging of multiple point clouds when processing a directory
+- Color-coded visualization (blue for distances below threshold, yellow for above)
+- Statistical analysis including min, max, median, and standard deviation
+- Interactive 3D visualization
+- Distance distribution histogram with statistical annotations
+- Distance computation result caching support for large point clouds
+
+Example Usage:
+    # Analyze a single PCD file with visualization and statistic output
+    ros2 run autoware_pointcloud_map_validator autoware_pointcloud_checker input.pcd --histogram
+
+    # Process directory of PCD files with custom threshold
+    ros2 run autoware_pointcloud_map_validator autoware_pointcloud_checker path/to/pcds/ --threshold 0.3
+
+    # Save processed point cloud and cache results, re-run the command will directly utilize the cached results
+    ros2 run autoware_pointcloud_map_validator autoware_pointcloud_checker input.pcd --output processed.pcd --cache
+```