Implement Iterative Closest Point algorithm and 3d utils

[edgarriba]

This pull request includes significant updates to the kornia-3d crate, adding new functionality and improving existing features. The most important changes include the addition of new dependencies, the introduction of new modules and functions, and updates to existing code to enhance functionality and performance.

New Dependencies and Modules

• Added new dependencies such as approx, bincode, criterion, env_logger, faer, log, rand, serde, and thiserror to the Cargo.toml file.
• Introduced new modules: linalg, ops, transforms, and vector in crates/kornia-3d/src/lib.rs.

New Functions and Benchmarks

• Added functions for matrix and vector operations in crates/kornia-3d/src/linalg.rs, including transform_points3d, dot_product3, matmul33, transpose33, and mat_vec_mul33.
• Introduced benchmarks for 3D point transformations and matrix multiplications in crates/kornia-3d/benches/bench_linalg.rs.

Point Cloud Data (PCD) Support

• Added a new pcd module with a parser for PCD files in crates/kornia-3d/src/io/pcd/parser.rs.
• Updated the io module to include the new pcd module in crates/kornia-3d/src/io/mod.rs.

Code Refactoring

• Refactored the read_ply_binary function in crates/kornia-3d/src/io/ply/parser.rs to use arrays instead of Vec3 for points, colors, and normals.
• Removed unused imports and cleaned up code in various files, such as crates/kornia-3d/src/io/colmap/text.rs.