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ccPointCloud * cloud = getSelectedEntityAsCCPointCloud();
	if (!cloud)
        return -1;

    //if we have normals delete them!
    if (cloud->hasNormals())
        cloud->unallocateNorms();

    PCLCloud::Ptr out_cloud(new PCLCloud);

    cc2smReader converter;
    converter.setInputCloud(cloud);
    int result = converter.getAsSM(*out_cloud);

    if (result != 1)
    {
        return -31;
    }

    CloudPtr pcloud (new Cloud);
    fromPCLPointCloud2 (*out_cloud, *pcloud);
    pcl::PointCloud<pcl::Normal>::Ptr normal (new pcl::PointCloud<pcl::Normal>);
    pcl::IntegralImageNormalEstimation<PointXYZRGBA, pcl::Normal> ne;
    ne.setNormalEstimationMethod (ne.COVARIANCE_MATRIX);
    ne.setNormalSmoothingSize (10.0f);
    ne.setBorderPolicy (ne.BORDER_POLICY_MIRROR);
    ne.setInputCloud (pcloud);
    ne.compute (*normal);

    //OrganizedEdgeBase<PointXYZRGBA, Label> oed;
    //OrganizedEdgeFromRGB<PointXYZRGBA, Label> oed;
    //OrganizedEdgeFromNormals<PointXYZRGBA, Normal, Label> oed;
    OrganizedEdgeFromRGB<PointXYZRGBA, Label> oed;
    oed.setInputNormals (normal);
    oed.setInputCloud (pcloud);
    oed.setDepthDisconThreshold (default_th_dd);
    oed.setMaxSearchNeighbors (default_max_search);
    oed.setEdgeType (oed.EDGELABEL_NAN_BOUNDARY | oed.EDGELABEL_OCCLUDING | oed.EDGELABEL_OCCLUDED | oed.EDGELABEL_HIGH_CURVATURE | oed.EDGELABEL_RGB_CANNY);
    PointCloud<Label> labels;
    std::vector<PointIndices> label_indices;
    oed.compute (labels, label_indices);

    // Make gray point clouds
    for (size_t idx = 0; idx < pcloud->points.size (); idx++)
    {
        uint8_t gray = uint8_t ((pcloud->points[idx].r + pcloud->points[idx].g + pcloud->points[idx].b) / 3);
        pcloud->points[idx].r = pcloud->points[idx].g = pcloud->points[idx].b = gray;
    }

    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr occluding_edges (new pcl::PointCloud<pcl::PointXYZRGBA>),
    occluded_edges (new pcl::PointCloud<pcl::PointXYZRGBA>),
    nan_boundary_edges (new pcl::PointCloud<pcl::PointXYZRGBA>),
    high_curvature_edges (new pcl::PointCloud<pcl::PointXYZRGBA>),
    rgb_edges (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::copyPointCloud (*pcloud, label_indices[0].indices, *nan_boundary_edges);
    pcl::copyPointCloud (*pcloud, label_indices[1].indices, *occluding_edges);
    pcl::copyPointCloud (*pcloud, label_indices[2].indices, *occluded_edges);
    pcl::copyPointCloud (*pcloud, label_indices[3].indices, *high_curvature_edges);
    pcl::copyPointCloud (*pcloud, label_indices[4].indices, *rgb_edges);