Fix/point cloud to from memory

See also:

• robot-api!341 (merged)

@pohl Feel free to continue

For the capacity, we may need to add (see AK point cloud provider)

    MetaPointCloudFormatPtr ArMemToPointCloudProvider::getDefaultPointCloudFormat()
    {
        // Copied from AK PointCloudProvider
        MetaPointCloudFormatPtr info = new MetaPointCloudFormat();
        //info->frameId = getProperty<std::string>("frameId").getValue();
        info->type = PointContentType::eColoredPoints;

        ARMARX_CHECK_EXPRESSION(resultColorImage);

        ARMARX_INFO
                << "default pointcloud format: "
                << resultColorImage->width
                << ", "
                <<  resultColorImage->height;

        info->capacity = resultColorImage->width * resultColorImage->height * sizeof(ColoredPoint3D);
        info->size = info->capacity;
        return info;
    }

@peller FYI