Add support for cilantro to optionally replace PCL requirement

[Algomorph]

• Automatically extends support to CUDA 10.X, VisualStudio 2017, and Ubuntu 18.04
• Not tested in VisualStudion 2015 or on Ubuntu 16.04
• Not fully tested with PCL build (due to compatibility issue nightmare on my available platforms), but should still work in theory
• Tested with CUDA 9.0
• Fixed Boost linkage on Windows in corner cases
• FindGLFW.cmake script was dropped -- the glfw3 package provides its own cmake module, i.e. glfw3Config.cmake, which should be used on both platforms instead of the non-standard module.
• Added CMake option for static MSVCRT linkage on Windows (as is the default for Pangolin)

Resolves #4