Make OpenGR be able to work directly with CGAL point clouds

CGAL’s components are used with other libraries to achieve complex tasks, some of which are suffering from the lack of interoperability while some others from performance issues with the existing wrappers. In this project, two other libraries that can be used with CGAL are considered: OpenGR and pointmatcher. Although OpenGR has a wrapper to work with CGAL types, it suffers from duplication of the point type due to lack of proper abstraction layer. For pointmatcher, there does not exist a wrapper, i.e., an interoperability channel to use its ICP method on a CGAL point cloud that global registration is applied. The first goal of this project is to introduce an abstraction layer around point and normal type for the OpenGR library, so that, CGAL types can be directly used. The second goal is to have a new wrapper for the pointmatcher library that will provide an ICP method that can be applied after the global registration to a CGAL point cloud.