[feat] Adding the registration filter

Adding a registration filter to the plugin. This filter takes two point clouds as input and aligns one point cloud with the other. It can also compute the scale if needed. The filter uses FPFH descriptors for feature matching, followed by outlier removal with a clipper algorithm and Teaser++ matching. The outlier removal step is optional. Additionally, the filter supports down-sampling the point clouds prior to computing the transformation matrix to speed up execution.