Add projective search

[koide3]

• This PR adds projective search with a generic projection class.
• Equirectangular projection for omnidirectional LiDARs is implemented as a reference.
• Performance needs to be measured and optimized.

[codecov-commenter]

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 93.16%. Comparing base (fd29d8c) to head (42d5d15).
Report is 4 commits behind head on master.

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Additional details and impacted files

@@           Coverage Diff           @@
##           master      #92   +/-   ##
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  Coverage   93.16%   93.16%           
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  Files          38       38           
  Lines         863      863           
  Branches       78       78           
=======================================
  Hits          804      804           
  Misses         59       59           

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