该算法通过三维点云(x,y,z)降维至(d=sqrt(x^2+y^2),z)，通过判断高度z，实现激光雷达的地面分割。该算法可分为三个步骤：点云投影、直线拟合与点云分类。
1.大致读一遍论文，详见
2.结合代码，看文章，详见
这个算法的思想比较明显，但是实现的代码比较复杂。这个内容将作为导航学习中后期的学习资料。
主要学习蓝圈里面的include与src
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