Backport lidar particle detection optimization

[iche033]

➡️ Backport

Summary

backport #973

The Ogre2GpuRays implementation has quite a bit of changes between ign-rendering6 and gz-rendering8 so the commit could not be applied directly. So I created a new commit to backport the changes

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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