http://pointclouds.org/documentation/tutorials/
http://wg-perception.github.io/object_recognition_core/install.html#install
http://www.jeffdelmerico.com/wp-content/uploads/2014/03/pcl_tutorial.pdf
http://www.pointclouds.org/assets/files/presentations/ICCV2011-segmentation.pdf
http://ode-wiki.org/wiki/index.php?title=Manual:_Collision_Detection
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原文：http://blog.csdn.net/dxuehui/article/details/47805455