Minor modifications for better usuability

[LimHyungTae]

Hello @jingnanshi , I'd like to do PR.

I modified two things:

• Add 'const' to the inputs for the Matcher class
• Add a Quatro option to make Quatro available on the Python wrapper

[LimHyungTae]

Also, I want to change pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normalEstimation; to pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normalEstimation; to make FPFH faster! (Since in the 64-channel LiDAR point cloud, using OMP boosts the speed)

[LimHyungTae]

I also enable getting normal vectors, which is the side-output of the procedure of FPFH. By doing so, the TEASER++ library can be more easily integrated with ROBIN

[LimHyungTae]

Also, I fix the equal error in #177

[jingnanshi]

All good except the missing new line character

[LimHyungTae]

I did not know the importance of the new line at the end of the files. Here are my modifications:

• InsertFinalNewline: 'yes' was wrong. So based on the recent clang format documentation, I add InsertNewLineAtEOF: true (e33d700); see here: https://clang.llvm.org/docs/ClangFormatStyleOptions.html#insertnewlineateof . Note that it is supported after the 16 version of clang-format
• Based on the .clang-format, I add newlines to the files each of whose final new line is missing (0383de1)
• In addition to new lines, I made some parts follow the .clang-format (6b60fdb)

[jingnanshi]

@LimHyungTae thanks! merging