feat: add pcd map hash generator (#745)

[wep21]

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[tkimura4]

LGTM

(Could you change commit message?)

->
Pull request has only one commit and it's not semantic; this may lead to a non-semantic commit in the base branch (see https://github.community/t/how-to-change-the-default-squash-merge-commit-message/1155). Amend the commit message to match the pull request title, or add another commit.

(Other PRs as well)