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Changed OcclusionCheck::get_visibility_vtk to avoid multiple frompclPointCloud2 calls

LAGNEAU Romain requested to merge timingBranch into VisualizerBranch

Changed OcclusionCheck::get_visibility_vtk to avoid multiple frompclPointCloud2 calls. Before calling get_visibility_vtk, frompclPointCloud2 was used on the mesh. The first lines of get_visibility_vtk was to do it again. Thus, the method was changed to take it both the mesh and the point cloud as parameters to avoid this redundancy

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