Added 3d edge detection and fast, edge-aware normal estimation

[ipa-rmb]

Added new functions for 3d surface and depth edge detection directly from organized point clouds without previous normal computation. The algorithm comes with a very fast and edge aware normal estimation function.

[SergioRAgostinho]

Thanks for your contribution. As this is new feature it will takes us a while to start reviewing it.

Tutorial (optional)

Although not required, and even though you also submitted some examples from what I can tell, it would be great if you could submit also a tutorial similar to this, briefly explaining the theoretical primer and showing a simple use case. It really helps to promote your contribution as users tend to explore the tutorials, not really the repository, so examples and tests tend to be overlooked.

Thanks for contributing 👍

[UnaNancyOwen]

Thank you for contribution.
You don't need to change the ChangeList (CHANGES.md) yourself.
This file will be changed at the release time.

[ipa-rmb]

Thanks for your comments. It is definitely on my to do list to complete the tutorial within this week.

[ipa-rmb]

I finally added two tutorials. Is it possible to have a (local) preview of these tutorials before merging, i.e. how they would look like at the webpage?

The failing tests at two of the Travis jobs are not connected to this contribution, I just merged in the latest trunk version of PCL.

[jspricke]

Awesome, try this for the docs: https://github.com/PointCloudLibrary/pcl/blob/master/.travis.sh#L319

[ipa-rmb]

Thanks a lot for this hint, Jochen, my ccmake did not display the "WITH_TUTORALS" option voluntarily, that's why I did not find it. The local tutorial build helped to see that I forgot to put links to the tutorials into the index.rst file. Now they are in.

[taketwo]

Hi Richard, sorry for a very long delay. Things were pretty calm in PCL over the last year, but in recent weeks we gained a good momentum. We will release new 1.8.1 version soon, and immediately after that we will be ready to start merging new features for the next major release.

Your contribution looks very interesting and it would be great to get it into PCL soon. However, we will likely need a couple of rounds of reviews to make sure that everything is implemented in the "PCL way". This PR is extremely complex, 31 files and almost 4k new lines. To make the review process manageable for all of us, I'd ask you to split it up in several Pull Requests. I think a clean and logical separation will be 1) Updates for edge detection 2) New normal estimation class 3) Tutorial. No need to create all three immediately, let's start with the first one and make our way through.

@SergioRAgostinho what is your opinion?

[SergioRAgostinho]

what is your opinion?

👍 It will make things easier for sure. Thanks again @ipa-rmb.

[ipa-rmb]

I will consider your advice throughout this week. Thanks for your feedback.

[ipa-rmb]

I have opened #1942 as part one of this pull request, which only contains the edge detection addons.

[stale]

This pull request has been automatically marked as stale because it hasn't had
any activity in the past 60 days. Commenting or adding a new commit to the
pull request will revert this.

Come back whenever you have time. We look forward to your contribution.

[stale]

This pull request has been automatically marked as stale because it hasn't had
any activity in the past 60 days. Commenting or adding a new commit to the
pull request will revert this.

Come back whenever you have time. We look forward to your contribution.

[stale]

This pull request has been automatically marked as stale because it hasn't had
any activity in the past 60 days. Commenting or adding a new commit to the
pull request will revert this.

Come back whenever you have time. We look forward to your contribution.