diff --git a/CV/.vs/CV/v14/.suo b/CV/.vs/CV/v14/.suo
new file mode 100644
index 0000000..04cc20c
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diff --git a/CV/CV.VC.VC.opendb b/CV/CV.VC.VC.opendb
new file mode 100644
index 0000000..bb71918
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diff --git a/CV/CV.VC.db b/CV/CV.VC.db
new file mode 100644
index 0000000..82218c0
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diff --git a/CV/CV.sln b/CV/CV.sln
new file mode 100644
index 0000000..fecc66c
--- /dev/null
+++ b/CV/CV.sln
@@ -0,0 +1,28 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+VisualStudioVersion = 14.0.25420.1
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CV", "CV\CV.vcxproj", "{BF4F9048-720E-4F16-8034-698CFF9FE1BE}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|x64 = Debug|x64
+ Debug|x86 = Debug|x86
+ Release|x64 = Release|x64
+ Release|x86 = Release|x86
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Debug|x64.ActiveCfg = Debug|x64
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Debug|x64.Build.0 = Debug|x64
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Debug|x86.ActiveCfg = Debug|Win32
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Debug|x86.Build.0 = Debug|Win32
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Release|x64.ActiveCfg = Release|x64
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Release|x64.Build.0 = Release|x64
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Release|x86.ActiveCfg = Release|Win32
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}.Release|x86.Build.0 = Release|Win32
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/CV/CV/1.png b/CV/CV/1.png
new file mode 100644
index 0000000..f600eef
Binary files /dev/null and b/CV/CV/1.png differ
diff --git a/CV/CV/CV.vcxproj b/CV/CV/CV.vcxproj
new file mode 100644
index 0000000..0b21bc0
--- /dev/null
+++ b/CV/CV/CV.vcxproj
@@ -0,0 +1,154 @@
+
+
+
+
+ Debug
+ Win32
+
+
+ Release
+ Win32
+
+
+ Debug
+ x64
+
+
+ Release
+ x64
+
+
+
+ {BF4F9048-720E-4F16-8034-698CFF9FE1BE}
+ Win32Proj
+ CV
+ 8.1
+
+
+
+ Application
+ true
+ v140
+ Unicode
+
+
+ Application
+ false
+ v140
+ true
+ Unicode
+
+
+ Application
+ true
+ v140
+ Unicode
+
+
+ Application
+ false
+ v140
+ true
+ Unicode
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+ true
+
+
+ false
+
+
+ false
+
+
+
+
+
+ Level3
+ Disabled
+ WIN32;_DEBUG;_WINDOWS;%(PreprocessorDefinitions)
+ true
+
+
+ Windows
+ true
+
+
+
+
+
+
+ Level3
+ Disabled
+ _DEBUG;_CONSOLE;_SCL_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)
+ true
+
+
+ Console
+ true
+
+
+
+
+ Level3
+
+
+ MaxSpeed
+ true
+ true
+ WIN32;NDEBUG;_WINDOWS;%(PreprocessorDefinitions)
+ true
+
+
+ Windows
+ true
+ true
+ true
+
+
+
+
+ Level3
+
+
+ MaxSpeed
+ true
+ true
+ NDEBUG;_WINDOWS;%(PreprocessorDefinitions)
+ true
+
+
+ Windows
+ true
+ true
+ true
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/CV/CV/CV.vcxproj.filters b/CV/CV/CV.vcxproj.filters
new file mode 100644
index 0000000..203a71c
--- /dev/null
+++ b/CV/CV/CV.vcxproj.filters
@@ -0,0 +1,22 @@
+
+
+
+
+ {4FC737F1-C7A5-4376-A066-2A32D752A2FF}
+ cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx
+
+
+ {93995380-89BD-4b04-88EB-625FBE52EBFB}
+ h;hh;hpp;hxx;hm;inl;inc;xsd
+
+
+ {67DA6AB6-F800-4c08-8B7A-83BB121AAD01}
+ rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms
+
+
+
+
+ 源文件
+
+
+
\ No newline at end of file
diff --git a/CV/CV/CV.vcxproj.user b/CV/CV/CV.vcxproj.user
new file mode 100644
index 0000000..2cc437b
--- /dev/null
+++ b/CV/CV/CV.vcxproj.user
@@ -0,0 +1,7 @@
+
+
+
+ path=E:\pcltools\PCL 1.8.0\bin $(LocalDebuggerEnvironment)
+ WindowsLocalDebugger
+
+
\ No newline at end of file
diff --git a/CV/CV/main.cpp b/CV/CV/main.cpp
new file mode 100644
index 0000000..dd63690
--- /dev/null
+++ b/CV/CV/main.cpp
@@ -0,0 +1,52 @@
+#include
+#include
+#include
+#include
+#include
+
+int main(int argc, char** argv)
+{
+ pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
+ pcl::PointCloud::Ptr cloud_projected(new pcl::PointCloud);
+
+ // Fill in the cloud data
+ cloud->width = 5;
+ cloud->height = 1;
+ cloud->points.resize(cloud->width * cloud->height);
+
+ for (size_t i = 0; i < cloud->points.size(); ++i)
+ {
+ cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
+ cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
+ cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
+ }
+
+ std::cerr << "Cloud before projection: " << std::endl;
+ for (size_t i = 0; i < cloud->points.size(); ++i)
+ std::cerr << " " << cloud->points[i].x << " "
+ << cloud->points[i].y << " "
+ << cloud->points[i].z << std::endl;
+
+ // Create a set of planar coefficients with X=Y=0,Z=1
+ pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
+ coefficients->values.resize(4);
+ coefficients->values[0] = coefficients->values[1] = 0;
+ coefficients->values[2] = 1.0;
+ coefficients->values[3] = 0;
+
+ // Create the filtering object
+ pcl::ProjectInliers proj;
+ proj.setModelType(pcl::SACMODEL_PLANE);
+ proj.setInputCloud(cloud);
+ proj.setModelCoefficients(coefficients);
+ proj.filter(*cloud_projected);
+
+ std::cerr << "Cloud after projection: " << std::endl;
+ for (size_t i = 0; i < cloud_projected->points.size(); ++i)
+ std::cerr << " " << cloud_projected->points[i].x << " "
+ << cloud_projected->points[i].y << " "
+ << cloud_projected->points[i].z << std::endl;
+
+ system("pause");
+ return (0);
+}
\ No newline at end of file
diff --git a/CV/CV/x64/Debug/CV.Build.CppClean.log b/CV/CV/x64/Debug/CV.Build.CppClean.log
new file mode 100644
index 0000000..97a1821
--- /dev/null
+++ b/CV/CV/x64/Debug/CV.Build.CppClean.log
@@ -0,0 +1,12 @@
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\vc140.pdb
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\vc140.idb
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\main.obj
+c:\users\niehu\documents\visual studio 2015\projects\cv\x64\debug\cv.ilk
+c:\users\niehu\documents\visual studio 2015\projects\cv\x64\debug\cv.exe
+c:\users\niehu\documents\visual studio 2015\projects\cv\x64\debug\cv.pdb
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\cv.tlog\cl.command.1.tlog
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\cv.tlog\cl.read.1.tlog
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\cv.tlog\cl.write.1.tlog
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\cv.tlog\link.command.1.tlog
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\cv.tlog\link.read.1.tlog
+c:\users\niehu\documents\visual studio 2015\projects\cv\cv\x64\debug\cv.tlog\link.write.1.tlog
diff --git a/CV/CV/x64/Debug/CV.log b/CV/CV/x64/Debug/CV.log
new file mode 100644
index 0000000..4619a0e
--- /dev/null
+++ b/CV/CV/x64/Debug/CV.log
@@ -0,0 +1,3 @@
+ main.cpp
+ CV.vcxproj -> C:\Users\NieHu\Documents\Visual Studio 2015\Projects\CV\x64\Debug\CV.exe
+ CV.vcxproj -> C:\Users\NieHu\Documents\Visual Studio 2015\Projects\CV\x64\Debug\CV.pdb (Full PDB)
diff --git a/CV/CV/x64/Debug/CV.tlog/CL.command.1.tlog b/CV/CV/x64/Debug/CV.tlog/CL.command.1.tlog
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diff --git a/CV/CV/x64/Debug/CV.tlog/CL.read.1.tlog b/CV/CV/x64/Debug/CV.tlog/CL.read.1.tlog
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diff --git a/CV/CV/x64/Debug/CV.tlog/CV.lastbuildstate b/CV/CV/x64/Debug/CV.tlog/CV.lastbuildstate
new file mode 100644
index 0000000..9a2e8f0
--- /dev/null
+++ b/CV/CV/x64/Debug/CV.tlog/CV.lastbuildstate
@@ -0,0 +1,2 @@
+#TargetFrameworkVersion=v4.0:PlatformToolSet=v140:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit:WindowsTargetPlatformVersion=8.1
+Debug|x64|C:\Users\NieHu\Documents\Visual Studio 2015\Projects\CV\|
diff --git a/CV/CV/x64/Debug/CV.tlog/link.command.1.tlog b/CV/CV/x64/Debug/CV.tlog/link.command.1.tlog
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diff --git a/test.txt b/test.txt
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index e69de29..0000000