Add support for binary PLY files

[boxanm]

Description

Summary:

This PR adds support for binary PLY files, both loading and exporting.
The main limitation is that libpointmatcher treats all possible data types as either floats or doubles.

Changes and type of changes (quick overview):

• The implementation is far from optimal. We could eventually switch to an external dependency, such as those mentioned in this benchmark.
• Problems may arise with type overflows when loading PLY files containing uint, int, or double fields since they might not fit into float. However, such files are relatively rare, and the current implementation suffices for most use cases, for example, the 3DMatch dataset.

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Checklist:

Code related

• I have made corresponding changes to the documentation
  (i.e.: function, class, script header, README.md)
• I have commented hard-to-understand code
• I have added tests that prove my fix is effective or that my feature works
• All tests pass locally with my changes
  (Check contributing_instructions.md for local testing procedure using libpointmatcher-build-system)

PR creation related

• My pull request base ref branch is set to the develop branch
  (the build-system won't be triggered otherwise)
• My pull request branch is up-to-date with the develop branch
  (the build-system will reject it otherwise)

PR description related

• I have included a quick summary of the changes
• I have indicated the related issue's id with # <issue-id> if changes are of type fix
• I have included a high-level list of changes and their corresponding types
  (See commit_msg_reference.md for details)

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[sonarqubecloud]

Quality Gate passed

Issues
27 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

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[sonarqubecloud]

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