[feature] Modernise manual memory management in `range_image_border_extractor`

[kunaltyagi]

Context

Manual memory management can be replaced by automatic management providing better move and copy semantics.

Expected behavior

Please tell us how the situation should be instead

Describe the solution you'd like

Replacing the pointers to pointers with something like std::vector<T> or std::unique_ptr<T>, where T is std::unique_ptr<U> or U* or U[].

LocalSurface** surface_structure_;
PointCloudOut* border_descriptions_;
ShadowBorderIndices** shadow_border_informations_;
Eigen::Vector3f** border_directions_;

There are other such opportunities in this class.

unique_ptr

Keeps ABI, beneficial for constant size arrays (runtime allocated)

vector

Might fit usage semantics better (eg: resizing), breaks ABI

[taketwo]

FWIW, ABI break is not of a concern, the next release is going to bump minor version.

[stale]

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.