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[feat] Add PCD writer

Nick Laurenson requested to merge feat/PCDWriter into master

The PCD writter isn't at all optimize. It does'nt make any assumption if the vtk arrays are in AOS of SOA. Also it doesn't support writing binary file on big_endian architeture.

I tested the pcd file with the pcl_viewer tool, to check them.

Edited by Nick Laurenson

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