在VC和opengcv的环境中显示URG04的数据采集，并对数据进行了处理，直线提取和地图匹配，自定位-To display data acquisition of URG04, in of VC and opengcv the environment in and processing the data, line extraction and map matching, self-positioning

将采集到的激光测距仪的数据点进行处理，先分类聚合，在直线提取-The processing laser rangefinder data points collected first classification polymerization in line extraction