WIP: Point to Plane ICP

[PranjalSahu]

This is a work-in-progress PR for Point to Plane ICP.
It requires the per-point normal and the Jacobian computation is different compared to Point to Point.
Idea here is to store the normal as data for each point and then use it while calculating Jacobian.

Some references for the implementation:
https://github.com/niosus/notebooks/blob/master/icp.ipynb

PR Checklist

• No API changes were made (or the changes have been approved)
• No major design changes were made (or the changes have been approved)
• Added test (or behavior not changed)
• Updated API documentation (or API not changed)
• Added license to new files (if any)
• Added Python wrapping to new files (if any) as described in ITK Software Guide Section 9.5
• Added ITK examples for all new major features (if any)

Refer to the ITK Software Guide for
further development details if necessary.

[thewtex]

CC @ntustison