Create calibration procedure to do basic operations on a pcl

Given a point cloud it is required to do metric measurements. Therefore the distance in point cloud needs to be mapped to micro meters. A calibration product will be provided (please state requirements, e.g., a known calibration object, encoder values over tcp (protocol available)) that determines the correct mapping from voxel distance to micro meter in all dimensions. Furthermore, it is needed to have a feature that searches for a fit of a certain sized object into the point-cloud/object. For instance, a small cavity with known dimensions should be detected and its coordinates returned. Switching between fitting-shapes should be possible, easy and fast. Furthermor the pcl viewer should be integrated nicely into a UI (depending on the spend time, extra budget available for this last request)