基于pcl语言，针对自制激光扫描仪扫描获得环境点云中提取特征点。-Pcl-based language to get the point cloud environment for extracting feature points homemade laser scanner.

凸包算法。寻找最少的点包围点云，可以用来绘制色空间的色域。-Convex hull algorithm. The least points will be founed surround all the point cloud, which coule be used to draw the color gamut for color space.

根据获取的模型点云，重新建立数据点间的几何拓扑关系，其目的是使特征重现。-According to the acquired model point cloud, the geometric topology relation between data points is reestablished, and its purpose is to make the feature reproduce.