refactor(perception_utils): add classification util function with string

[scepter914]

Description

Make util function for label conversion between string and uint8.
The function is used in

• centerpoint

  autoware.universe/perception/lidar_centerpoint/lib/ros_utils.cpp

  Line 74 in 4be6931

  uint8_t getSemanticType(const std::string & class_name)

• heatmap_visualizer

  autoware.universe/perception/heatmap_visualizer/src/utils.cpp

  Line 88 in 4be6931

  uint8_t getSemanticType(const std::string & class_name)

After this PR merged, I'll send the PR to replace to these functions to util functions.

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[codecov]

Codecov Report

Base: 10.83% // Head: 10.35% // Decreases project coverage by -0.48% ⚠️

Coverage data is based on head (3a34fdb) compared to base (ff1af93).
Patch coverage: 49.25% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2090      +/-   ##
==========================================
- Coverage   10.83%   10.35%   -0.49%     
==========================================
  Files        1179     1176       -3     
  Lines       84845    84466     -379     
  Branches    19985    19637     -348     
==========================================
- Hits         9196     8746     -450     
- Misses      65931    66147     +216     
+ Partials     9718     9573     -145     

Flag	Coverage Δ		*Carryforward flag
differential	6.07% <47.76%> (?)
total	10.35% <ø> (-0.47%)	⬇️	Carriedforward from 15d8d0a

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...include/tier4_autoware_utils/geometry/geometry.hpp	95.80% <ø> (ø)
...autoware_utils/test/src/geometry/test_geometry.cpp	43.34% <ø> (ø)
...tion_utils/test/src/test_object_classification.cpp	15.87% <15.62%> (-0.26%)	⬇️
...include/perception_utils/object_classification.hpp	76.92% <80.00%> (+26.92%)	⬆️
...lude/freespace_planning_algorithms/reeds_shepp.hpp	50.00% <0.00%> (-50.00%)	⬇️
.../freespace_planning_algorithms/src/reeds_shepp.cpp	55.51% <0.00%> (-38.97%)	⬇️
...lude/behavior_path_planner/turn_signal_decider.hpp	50.00% <0.00%> (-35.72%)	⬇️
...eespace_planning_algorithms/abstract_algorithm.hpp	44.44% <0.00%> (-25.56%)	⬇️
...ng/behavior_path_planner/test/test_turn_signal.cpp	27.60% <0.00%> (-12.81%)	⬇️
...ehicle/raw_vehicle_cmd_converter/src/brake_map.cpp	33.33% <0.00%> (-11.83%)	⬇️
... and 153 more

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[takayuki5168]

Just curious.

Where is this function with string argument used?
I'm not sure why the label is used as string in the implementation.

[scepter914]

Deep learning module sometime has string config like CenterPoint, so this case need for converter.

[takayuki5168]

I don't know if having class names as a string is good or not, but I got it. Thank you.

[takayuki5168]

This handling looks not good.
If we have typo on class types as a string, the type will be unknown.

I think it's okay to throw exception in this case.

[scepter914]

That's certainly true. Thank you for recommendation.
Fixed at 15d8d0a.

[takayuki5168]

LGTM

[yukke42]

LGTM