feat(lidar_centerpoint): moved preprocessing to cuda

[knzo25]

Description

While changing the point type to the new standard, realized that preprocessing was bottleneck in centerpoint.
Apologies to Amadeusz since he did almost the same already in transfusion, but in this PR I moved the preprocessing to CUDA for gpu acceleration.

During tests in my desktop the detection time went from

Related links

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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