[sample_consensus] Adds Ellipse3D SacModel Class (PointCloudLibrary#5512

)

* [sample_consensus] Adds Ellipse3D SacModel.

* [test/sample_consensus] Adds a test for the Ellipse3D model.

* Minor changes after review of PR#5512.

* Redeclaration of Eigen vars as 'const' to improve performance.

sample_consensus/CMakeLists.txt

@@ -27,6 +27,7 @@ set(srcs
   src/sac_model_plane.cpp
   src/sac_model_registration.cpp
   src/sac_model_sphere.cpp
+  src/sac_model_ellipse3d.cpp
 )
 
 set(incs
@@ -59,6 +60,7 @@ set(incs
   "include/pcl/${SUBSYS_NAME}/sac_model_registration.h"
   "include/pcl/${SUBSYS_NAME}/sac_model_registration_2d.h"
   "include/pcl/${SUBSYS_NAME}/sac_model_sphere.h"
+  "include/pcl/${SUBSYS_NAME}/sac_model_ellipse3d.h"
 )
 
 set(impl_incs
@@ -85,6 +87,7 @@ set(impl_incs
   "include/pcl/${SUBSYS_NAME}/impl/sac_model_registration.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/sac_model_registration_2d.hpp"
   "include/pcl/${SUBSYS_NAME}/impl/sac_model_sphere.hpp"
+  "include/pcl/${SUBSYS_NAME}/impl/sac_model_ellipse3d.hpp"
 )
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")