估计点云的法线，选择点周围的面皮，面片法线相加，求均值-Estimated cloud normals, select points around the dough, adding the patch normal, averaging

music估计doa，阵元排列方式为均匀线阵，此程序适用于应用music算法线阵搜索-music estimate doa, array element arrangement for ULA, this procedure applies to linear search algorithm applied music