Registrations wraps/components + downsample components

[9and3]

This PR introduces:

• [x] wraps for registration methods and components
• [x] 3 new methods, wraps and components for downsampling algorithm
• [x] the componentizer action and function is now custom to diffCheck and it is not referenced anymore to the Compas marketplace. This is because we need to adapt it to our diffCheck pipeline, e.g. : pointcloud integration, commenting out the main, and flagging pypi installation for release (both tracked in issue #19 ).

downsampling example:

icp registration example:

[9and3]

Hello! This PR is ready! Happy to integrate your suggestions if you have! Just few side notes:

• tall registration components: I tried to integrate the settings in a separate component to lighten up the registration components (they are very tall) but I didn't manage since each one has its own set. So I decided to expose the majority of values with default values so they do not have to be set.
• decoupling registration prep: (esp. @DamienGilliard ) In c++ we offer the possibility to downsample the cloud in the function registration but I think it's better to separate everything, that's wh I added 3 downsampling methods/components.. the user will decide.
• hidden parameters: parameters for registrations are completly exposed except for the ICP where the thershold fitness and RMSE is hidden and set by default to 1e-6 since it will always get the best value by doing so.
• ICPs together: the ICPs functions are coupled together in one component and user can switch with a toggle

Cheers!

[9and3]

Amazing work, thanks for letting me the time to go through this @9and3 . Very happy to dive again into python bindings. I still have a lot of work to fully understand the ghcomponentizer and pyperizer. I'll reserve a few hours for that during my vacations ;)

thank you for going through it! It's always better to have a pair of eyes more :) thanks !👐