[feature] Modernise manual memory management in `range_image_border_extractor`

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

Start by locating the range_image_border_extractor class and its uses of surface_structure_, border_descriptions_, shadow_border_informations_, and border_directions_. Review how these members are allocated, copied, moved, resized, and destroyed, then determine whether unique_ptr or vector fits each use while preserving ABI where required. Done means the class no longer relies on the identified manual pointer management and its existing behavior remains covered.