Add rudimentary pcloud dumper and meshing with OFM & GP3

The OFM algo runs in fractions of a millisecond. GP3 runs in
fractions of a second. I think if we can get more input data to
the OFM or something akin to it, we will have a winner.

compile/CMakeLists.txt

@@ -1,4 +1,5 @@
 option(COMPILE_CL_CHECKS "Compile CL checks" OFF)
+option(COMPILE_PCL_TOOLS "Compile PCL-based validation tools" ON)
 
 if(COMPILE_CL_CHECKS)
 	# Find OpenCL: try find_package first, fall back to pkg-config
@@ -55,3 +56,18 @@ if(COMPILE_CL_CHECKS)
 	target_link_libraries(clzerocopycheck
 		${OPENCL_LIBRARIES})
 endif()
+
+if(COMPILE_PCL_TOOLS)
+	enable_language(C)
+	find_package(MPI REQUIRED COMPONENTS C)
+	find_package(PCL QUIET COMPONENTS common io surface features search kdtree)
+	if(PCL_FOUND)
+		add_executable(meshFromPcd meshFromPcd.cpp)
+		target_include_directories(meshFromPcd PUBLIC ${PCL_INCLUDE_DIRS})
+		target_link_directories(meshFromPcd PUBLIC ${PCL_LIBRARY_DIRS})
+		target_link_libraries(meshFromPcd ${PCL_LIBRARIES})
+		target_compile_options(meshFromPcd PRIVATE ${PCL_DEFINITIONS})
+	else()
+		message(WARNING "PCL not found; skipping meshFromPcd build")
+	endif()
+endif()