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Clean and improve KDTreePCLAdaptor

Nicolas Cadart requested to merge improvement/KdTree into master
  • Templatize KDTreePCLAdaptor to be used with any PCL Point type
  • Replace KDTreePCLAdaptor::query() method by knnSearch() for more intuitive use
  • Use metric_L2_Simple instead of metric_L2 as it is more suitable to 2D or 3D datasets such as pointclouds
  • Add optional leaf size setting
  • Use float representation instead of double as PCL point coordinates only supports float precision

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