PointCloud parallel construction with halo_radius #613

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Run time

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Job	Run time
ci (Release, linux gnu-10)	18m 39s
ci (Release, linux gnu-12)	19m 54s
ci (Release, linux gnu-7)	17m 53s
ci (Release, linux clang-12)	16m 52s
ci (Release, linux intel)	27m 39s
ci (Release, macos)	17m 24s
ci (Debug, linux gnu-10)	29m 6s
ci (Debug, linux gnu-12)	20m 45s
ci (Debug, linux gnu-7)	17m 14s
ci (Debug, linux clang-12)	19m 27s
ci (Debug, linux intel)	21m 30s
ci (Debug, macos)	17m 7s
	4h 3m 30s