https://blog.csdn.net/qq_34719188/article/details/89299316#1__352 https://blog.csdn.net/weixin_34138056/article/details/88264691 软件:https://blog.csdn.net/qq10593994/article/details/47360905 点云法向量程序:https://www.cnblogs.com/tiandsp/p/10662783.html