Non-working version of scan aggregator

[serraramiro1]

Proposed changes

Still a WIP.
open3d is segfaulting, possibly related to https://stackoverflow.com/questions/78778444/segmentation-fault-when-pass-a-numpy-array-to-open3d-utility-vector3dvector
This needs some research

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

Checklist

Put an x in the boxes that apply. This is simply a reminder of what we will require before merging your code.

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

Additional comments

Anything worth mentioning to the reviewers.