Refactor point cloud querying tests & add benchmarks

[nnmm]

• Refactor to have code that can be shared between tests and benchmarks in a separate crate. This also makes it possible to depend on point_cloud_client, and makes the tests defined there now run by default by CI.
• Add benchmarks for queries. Current results:

test all_query_octree                    ... bench:  33,192,320 ns/iter (+/- 12,097,922)
test all_query_s2                        ... bench:  10,631,450 ns/iter (+/- 3,461,396)
test box_query_octree                    ... bench:   7,926,596 ns/iter (+/- 1,712,528)
test box_query_s2                        ... bench:   2,166,735 ns/iter (+/- 143,230)
test cell_union_query_octree             ... bench:  15,079,310 ns/iter (+/- 6,557,257)
test cell_union_query_s2                 ... bench:   1,086,969 ns/iter (+/- 85,365)
test frustum_query_octree                ... bench:  10,151,745 ns/iter (+/- 5,664,278)
test frustum_query_s2                    ... bench:   1,554,161 ns/iter (+/- 192,991)
test obb_query_octree                    ... bench:  10,024,159 ns/iter (+/- 3,689,549)
test obb_query_s2                        ... bench:   4,191,844 ns/iter (+/- 965,474)

[nnmm]

meow @catevita

[googlebot]

We found a Contributor License Agreement for you (the sender of this pull request), but were unable to find agreements for all the commit author(s) or Co-authors. If you authored these, maybe you used a different email address in the git commits than was used to sign the CLA (login here to double check)? If these were authored by someone else, then they will need to sign a CLA as well, and confirm that they're okay with these being contributed to Google. In order to pass this check, please resolve this problem and then comment @googlebot I fixed it.. If the bot doesn't comment, it means it doesn't think anything has changed.

ℹ️ Googlers: Go here for more info.

[googlebot]

CLAs look good, thanks!

ℹ️ Googlers: Go here for more info.