Computes the centroid for a given point cloud.
The centroid is the point that has the same distance to all other points in the point cloud.
Iterates over all points in the ‘point_cloud’.
Normal Estimation Algorithm
returns a vector of quintuplets where each quintuplet has the following values: (current point, normal_vector, curvature).
It iterates over all points in the buffer and constructs new point buffers of size k_nn.
Make sure that knn >= 3 holds as it is not possible to construct a plane over less than three point