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Add ability to receive and provide point clouds to python

Fabian Paus requested to merge point-clouds into master

This merge request enables python to directly provide and receive point clouds from ArmarX.

Point clouds are represented as numpy arrays with a structured data type corresponding to the VisionX PointContentType.

Examples for providing and processing point clouds have been added accordingly (see examples/publish_point_clouds.py and examples/process_point_clouds.py).

@RainerKartmann: FYI

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