Move further towards KdTreeNanoflann Part B - #6468
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Work in progress ...
It is now possible to build most of PCL without having FLANN installed (apps, examples, test, benchmarks, and some tutorials still need FLANN and the kdtree module that depends on FLANN). It is still highly recommended to have either FLANN or nanoflann installed. If both are available, PCL auto-selects
KdTreeNanoflannby default (faster thanKdTree).This PR
pcl::search::autoSelectMethodwhere the PointRepresentation to be used can be specified (the other overloads use the default point representation). This overload usesKdTreeNanoflann,KdTree, orBruteForce, depending on what is available.KdTreeNanoflannto not inherit fromKdTreebut fromSearchdirectly (KdTreeis not available if FLANN is not found)pcl::search::KdTreetoautoSelectMethodin the registration and recognition modules