feat(lidar_centerpoint): yaw norm filter (cherrypicked)

[knzo25]

Description

Added a filter to the centerpoint estimations to ignore detections that have a yaw angle norm below a certain threshold.

Centerpoint rather than estimate the rotation directly, estimates the cosine and sine of the angle.
As such the norm of the cos/sin pair should be unitary, but since the inference does not enforce this property, it may not hold.
Empirically, in those cases where the property does not hold, there is a high chance that the detection is wrong, so we filter them out.

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[knzo25]

@yukke42
Sorry, I did not know the signing requirement for the commits, and since I had done some merges, it was difficult to perform the necessary rebases. Instead, I just cherrypicked my commits (and signed them), and resubmitted the PR.

Old PR: #1728