Remove GetPoints

[tizianoGuadagnino]

Hi guys, it is me again. I just removed the GetPoints function, as it is now redundant because we moved the nn search to the VoxelHashMap, which has the same performance but less code.

To follow up, move the does the voxel exist check from the NN search to the AdjacentVoxels function. This opens a lot of additional filtering that can be done on the NN search, which should (hopefully) reduce the compute.

[nachovizzo]

I don't really get why we do this, but I'm also happy to proceed. I left some comments mainly on readability.

I'd also refactor the PR description as we don't remove the GetPoints function but absorve its functionality in VoxelHashMap::GetClosestNeighbor. Also I didn't understand the comment with the GetAdjacentVoxels at all 🤣

[tizianoGuadagnino]

I don't really get why we do this, but I'm also happy to proceed. I left some comments mainly on readability.

I'd also refactor the PR description as we don't remove the GetPoints function but absorve its functionality in VoxelHashMap::GetClosestNeighbor. Also I didn't understand the comment with the GetAdjacentVoxels at all 🤣

Nope bruda, I literally remove it, as it was concatenating the inner points of each voxel into a single std::vector. Now we don't copy this points, but just use a ref from the robin_map.

Thanks for the comments ❤️ I will integrate them now.

About the GetAdjacentVoxels, stay tuned we are working on something with @benemer.