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Add template instantion for pcl::PointXYZRGB (#165) #82

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Job	Run time
build (focal)	15m 17s
build (focal_cuda)	18m 24s
build (melodic)	2m 24s
build (melodic_llvm)	2m 38s
build (noetic)	3m 14s
build (noetic_llvm)	3m 5s
	45m 2s