Fix noetic issues

[haixuanTao]

This PR fixes:

• boost::function with std::function as it seems depreciated. I don't know the perf consequence of this.
• DEPRECIATED_PCL with comments

This makes the build on noetic work for me.

This fix https://github.com/autowarefoundation/autoware_ai_perception/issues/48 header file.

[Kin-Zhang]

Yes, I noticed this problem a long time ago as the issue leaves my comments. I will test to see if the pcl_omp can work well tomorrow.