PointCloud parallel construction with halo_radius #615

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Run time

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Job	Run time
ci (Release, linux gnu-10)	19m 44s
ci (Release, linux gnu-12)	17m 46s
ci (Release, linux gnu-7)	19m 23s
ci (Release, linux clang-12)	14m 41s
ci (Release, linux intel)	23m 38s
ci (Release, macos)	20m 56s
ci (Debug, linux gnu-10)	28m 9s
ci (Debug, linux gnu-12)	18m 10s
ci (Debug, linux gnu-7)	21m 35s
ci (Debug, linux clang-12)	16m 7s
ci (Debug, linux intel)	25m 36s
ci (Debug, macos)	17m 14s
	4h 2m 59s