fix(autoware_bevfusion): validate remapper config at runtime

[BISTU-gzy]

Summary

This PR hardens autoware_bevfusion's detection class remapper by:

• replacing assert-only config validation with runtime validation
• skipping labels that fall outside the configured remapper matrix
• adding a dedicated unit test for the remapper

Motivation

autoware_bevfusion loads the remapper parameters from an external model data file.
Before this change, the remapper only validated matrix sizes with assert(...).

In release builds, those assertions disappear, so malformed remapper config could reach
Eigen::Map and matrix indexing without any runtime protection.

This patch makes the failure mode explicit and consistent with the package's existing
fail-fast parameter validation style.

What Changed

• DetectionClassRemapper::setParameters() now throws on:
  • mismatched matrix sizes
  • empty matrices
  • non-square matrices
• DetectionClassRemapper::mapClasses() now skips labels outside the configured matrix range
• added test_detection_class_remapper.cpp
  • valid remapping behavior
  • mismatched sizes
  • empty matrices
  • non-square matrices
  • out-of-range labels

Testing

• git diff --check
• built and ran a targeted ament test harness against:
  • perception/autoware_bevfusion/lib/detection_class_remapper.cpp
  • perception/autoware_bevfusion/test/test_detection_class_remapper.cpp

Result:

• 5 / 5 tests passed

Note:

• full workspace colcon build --packages-select autoware_bevfusion was not completed in this environment because the local workspace is missing several internal package dependencies unrelated to this patch.

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