Migrate CMake policy 0048

[SergioRAgostinho]

To be merged only after #2605.

We start setting the project version in the project command and adopt the default naming variable conventions CMake uses. The following substitutions were applied

Old variables and their respective contents

PCL_VERSION = 1.9.0(-dev)
PCL_VERSION_PLAIN = 1.9.0(.99)

PCL_MAJOR_VERSION = 1
PCL_MINOR_VERSION = 9
PCL_REVISION_VERSION = 0

PCL_DEV_VERSION = (0/1)

The corresponding substitutions

PCL_VERSION_PLAIN ->    PCL_VERSION
PCL_VERSION ->  	    PCL_VERSION_PRETTY
PCL_MAJOR_VERSION ->    PCL_VERSION_MAJOR
PCL_MINOR_VERSION ->    PCL_VERSION_MINOR
PCL_REVISION_VERSION -> PCL_VERSION_PATCH

Closes #2577.

[SergioRAgostinho]

This is finished from my side.