Need help with point-cloud edge detection

I'm *extremely* new to comp-vision, and am building a personal project to learn. I'm trying to identify edges in a point cloud.
\- I've taken arbitrary auto-cad files and converted them into a point-cloud using Open3D
\- The result is thousands of points in 3D space
\- Each point is an object with coordinates (x, y, z) and its 5 nearest neighbors
\- I also have a kd-tree for efficient nearest-neighbor lookup

From here, I'm not sure how to identify …

cloud computervision detection edge point-cloud