Invalid cast to LeafNode* in OctreePointCloudVoxelCentroid

[SergioRAgostinho]

Closes #960. Credits to @ThomasGuerneve for the original PR.

[SergioRAgostinho]

The build failed. Let me have a look at it.

[taketwo]

It's unrelated. IIRC the failing test is due to random nature of the algorithm being tested (KFPCS).
See #1229. (Are we in 0.01% today? :) )

[SergioRAgostinho]

That's why RNGesus created seeds :) Just ran the test 5 times on my env and it's passing. I assume it might be failing sporadically then. I'll try to see if I can make the test consistent.

Nevertheless, can you give it a try on your linuv env as well? Just want to be sure this is an rng issue and not some something related to platform difference.

[taketwo]

Succeeded 10 times in a row on my machine.

[SergioRAgostinho]

(Are we in 0.01% today? :) )

Hahaha. (buys lottery ticket)

Thanks for the tests. I just figured out I won't be able to do much without doing changes to the api because the seed is reset to srand (time (NULL)) in some of the methods.