Refactor ear clipping algorithm to improve concave and flat triangle detection #659

Job	Run time
ros (indigo, true, true, true, ros-ubuntu:14.04-pcl, sudo pip install numpy==1.16.6; sudo pip ins...	49s
ros (kinetic, true, true, true, ros-ubuntu:16.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	36s
ros (kinetic, true, true, true, ros-ubuntu:16.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	34s
ros (melodic, true, true, true, ros-ubuntu:18.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	39s
ros (melodic, true, true, true, ros-ubuntu:18.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	37s
ros (melodic, true, true, true, ros-ubuntu:18.04-pcl, sudo pip uninstall -y fcn chainer chainercv...	37s
ros (noetic, false, true, true, ros-ubuntu:20.04-pcl, sudo pip3 install numpy==1.17.5 scipy==1.3....	44s
ros (noetic, false, true, true, ros-ubuntu:20.04-pcl, jsk_pcl_ros_utils jsk_pcl_ros, sudo pip3 in...	34s
ros (noetic, false, true, true, ros-ubuntu:20.04-pcl, jsk_recognition_msgs, sudo pip3 install num...	45s
	5m 55s

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