More advanced version with more routines in multi_plane_segmentation.
Need to figure out the final unit vector triplets to feed to organized_gui.
Many changes since last version. I have also coded up (in organized_gui),
drawing the registered clouds, now manually. The transformations are
not yet computed automatically.
I now extract various orthogonal directions (and compress them to reduce
the number), but the final results are not satifactory. I should take
into account plane properties when doing this.

I will next assigne weights to my edges, a simple count for starters.
Later, I'll take aspect ratio and planar area into account.