Qt3D显示点云，支持选中交互

#,.PCD,v0.7,-,Point,Cloud,Data,file,format #VERSION,0.7 #FIELDS,x,y,z #SIZE,4,4,4 #TYPE,F,F,F #COUNT,1,1,1 #WIDTH,35947 #HEIGHT,1 #VIEWPOINT,0,0,0,1,0,0,0 #POINTS,35947 #DATA,ascii -1.10698,3.272394,-0.447241 -1.80195,3.367094,-0.704211 -4.12496,5.602794,2.824819 2.44725,3.493394,1.427299 0.41545,3.145894,-0.179121 0.16521,3.070494,-0.270481 -1.0361,3.223294,-0.715151 5.99729,1.747594,1.873899 6.48024,1.453894,0.722179 0.12516,1.735194,2.772959 0.22293,1.741994,2.839979 5.4163,2.634394,1.227369 -3.61362,6.320294,-2.653421 6.68412,0.898594,1.322129 7.19131,-0.201926,0.221329 -0.57366,7.901494,-1.133711 -5.36988,4.061094,4.108479 -4.57345,3.080594,4.395489 -5.36776,4.201294,4.014779 3.4758,3.607794,0.795349 6.67864,1.179394,-0.078201 6.39256,0.450114,-1.875971 -6.38369,4.541294,1.322219 -5.75818,1.378794,1.541319 -4.2111,6.104194,0.582339 -5.77183,5.706794,1.803729 3.21271,3.056094,2.284509 3.5692,2.917694,2.412819 -0.47815,3.056194,-0.507211 -2.29141,4.645594,0.344239 -5.17226,4.063494,4.169829 2.25011,3.281894,1.938709 -1.8719,2.821494,1.617379 0.32214,1.746394,2.905079 -5.22604,-0.165466,-1.954331 5.03341,2.899594,1.369499 -6.34528,2.744794,-0.366161 6.71341,0.613694,-1.177541 6.79839,0.617294,-0.976151 -5.92167,2.182794,-0.871871 -2.31454,4.646494,0.445179 -0.57419,8.188894,-1.338091 -5.07355,5.181194,3.274349 5.07911,2.898394,1.243519 0.42394,1.746494,2.953149 0.65581,8.192194,-3.172791 -1.14313,7.295194,-2.172931 0.52606,1.744894,2.986669 -0.54766,3.108094,-0.240901 -0.36135,3.056294,-0.172131 3.7182,3.263194,1.889979 -1.96072,3.784194,0.707829 0.0452,3.045594,-0.314741 0.29043,3.107594,-0.224841 4.42266,2.759994,2.148309 4.5171,2.730794,2.181159 4.33981,2.808594,2.118459 6.05255,1.647294,1.894589 5.88083,1.943394,1.829359 -1.37445,7.152194,-0.540671 -6.23787,3.428694,-0.471581 -2.69948,4.791794,1.745449 6.97364,0.350144,0.921949 6.93979,0.627194,0.221319 6.77049,0.053504,1.921639 -2.83161,5.900994,0.777229 0.20678,6.135494,-1.302871 -4.17497,5.178494,3.233759 -4.47744,4.619494,3.748539 -4.32746,-3.206866,1.110959 -6.36784,2.474994,-0.365051 -4.87339,3.222494,4.409319 -1.27772,7.003594,-0.583981 -1.37612,7.003394,-0.515431 -3.77298,6.632194,-2.744491 -0.75516,3.143794,-0.611981 -1.92793,3.754094,0.573249 -4.15155,6.000594,-0.413731 -6.53822,2.090694,2.936309 3.30601,3.029294,2.317429 3.39345,2.992294,2.349889 3.48155,2.955094,2.381299 -0.56734,3.089294,-0.539291 -3.65975,6.069194,0.343819 5.82016,2.032294,1.806669 5.76087,2.121594,1.784519 -0.27574,8.052194,-1.420131 6.64091,0.181134,-1.572271 -4.47638,6.988494,-2.568501 -4.58044,6.995694,-2.599121 1.92668,2.718894,2.628599 1.82609,2.721394,2.606989 5.56698,-0.229626,3.475569 1.32586,6.841094,-2.076911 -1.67359,7.149894,-0.503151 -0.34875,3.003694,-0.604371 -1.59709,7.459294,-0.806761 0.62508,1.747994,3.002719 -6.37732,3.990094,1.226359 -4.98297,7.762094,-4.773011 -4.97385,3.222594,4.426869 0.72687,1.745894,3.034619 -5.97303,0.834294,-0.354351 -2.3304,4.645694,0.544909 6.38267,1.450294,1.423049 5.90274,0.690694,2.733759 -0.77342,7.602994,-0.972611 -4.97212,4.618294,3.822459 -4.97152,5.175194,3.319049 -1.27163,7.589394,-0.834581 6.59368,1.176194,1.122119 -5.83611,1.371094,-0.358431 7.20496,-0.903696,1.121599 4.39847,3.210394,1.277899 2.62426,-5.659236,3.788539 2.72589,-5.662176,3.768919 2.82452,-5.663156,3.748539 2.92424,-5.665686,3.721559 1.09967,3.277394,-0.508961 -4.576,4.620494,3.775049 -2.37392,6.119594,0.124439 -6.39839,3.989094,1.126279 -4.87363,4.620694,3.825009 -0.8754,8.150994,-1.691071 6.74264,1.042094,-0.378421 -6.5276,3.172694,2.430609 6.42519,0.309014,-1.871951 6.72513,0.331094,-1.377421 6.86027,0.338754,-1.075581 5.74151,0.687894,2.853069 7.25124,-0.900926,0.421719 -0.37734,8.343894,-1.460061 -0.16551,8.353694,-1.489571 -4.47333,2.658594,4.457519 -4.57442,5.176494,3.343929 -3.42407,3.450494,3.094849 6.93685,-0.217386,1.722449 1.79004,3.509394,0.610459 0.94255,3.315194,0.303019 -0.45485,3.080194,-0.206211 -4.33107,6.042594,-0.187401 3.89169,2.832794,2.388589 1.74282,3.206294,1.902739 -3.89635,5.871094,2.298499 -4.5019,5.946894,2.086179 4.60628,2.581394,2.356489 -1.5756,7.665394,-1.226791 -1.74577,7.559894,-1.286141 -3.07018,-5.522056,3.773529 -2.97312,-5.518966,3.792969 -2.87274,-5.518346,3.802409 -2.77393,-5.518286,3.801869 0.82549,1.749794,3.052349 -2.37366,6.264894,0.048869 -4.87259,5.177894,3.333519 1.3036,6.693394,-2.077931 -4.68014,6.850394,-2.394491 -4.47398,6.841394,-2.278551 6.54277,1.172694,1.421739 6.57961,1.316494,0.521909 6.89561,-0.226116,-1.374541 -1.87397,6.853294,-0.339441 -1.67633,6.852994,-0.370431 -1.57267,-5.555096,3.444589 -1.47458,-5.559066,3.411229 -4.36062,7.156394,-2.961881 0.13439,-0.470316,4.006429 -0.84459,3.177094,-0.644041 -6.05148,4.391094,-0.175421 1.20243,2.967094,2.006139 -0.92418,7.886394,-2.084301 -6.24041,-0.232146,0.249619 -0.66251,3.115794,-0.577401 4.60394,2.694894,2.214299 -3.78474,6.232394,-2.026471 -3.73434,6.114494,-2.007411 -3.68316,6.003394,-1.988721 -3.6369,5.881394,-1.971581 -4.42067,4.323194,-1.649631 -4.37874,4.618394,3.710129 -4.88119,6.994894,-2.910191 -4.99517,7.003094,-3.188911 5.63796,2.178994,1.881609 5.70143,1.978594,2.048639 6.7357,0.618794,1.522659 6.48208,1.312694,1.322449 6.72021,1.041894,0.621849 0.92646,1.748494,3.062079 -4.67361,5.179794,3.347429 -4.67054,2.075394,4.299479 4.02524,1.879994,2.905229 3.92484,1.881194,2.929859 -5.587,1.504294,1.945299 6.84815,0.479194,-0.975961 -5.07311,4.063294,4.181219 1.02697,1.748794,3.085579 1.12603,1.751994,3.114099 -0.87399,7.601394,-0.877271 -0.96954,7.602094,-0.830441 -1.07459,7.599194,-0.812911 -1.17397,7.594594,-0.817981 -3.51496,2.287094,-1.922281 -4.42111,7.139294,-5.695891 -6.47061,5.091394,1.520299 1.22705,1.752094,3.148699 1.32735,1.752494,3.172539 1.42609,1.756194,3.190289 2.82448,-5.522756,3.748359 2.92469,-5.525326,3.722209 3.02387,-5.527106,3.702939 0.52504,1.882694,2.874749 -6.35532,3.155094,-0.366291 3.72514,1.884894,2.982819 -4.99345,7.621094,-4.483981 5.44002,2.300194,1.949579 5.77415,0.726794,-2.347991 6.92508,0.625594,-0.377441 2.72577,1.897994,3.247199 -4.07576,5.177494,3.195569 6.91657,0.626694,-0.478081 6.73094,0.470374,-1.274071 -4.57297,3.221394,4.348329 -1.48387,7.471794,-0.765551 1.21714,3.368294,-0.030991 3.10836,3.653694,0.233779 -3.67503,5.593594,2.724019 6.13509,1.864094,1.354809 4.8075,-5.582616,3.217399 4.42896,-0.253206,3.936489 3.37798,3.624794,0.759639 1.52803,1.753694,3.220369 6.49474,1.456394,0.422069 -5.26396,0.107734,-1.846071 6.80526,0.620794,1.221299 6.86865,0.624594,0.821219 -5.20385,1.812094,-1.215141 -5.12083,4.019594,-1.420161 3.28911,1.066894,-2.983831 3.58963,1.065494,-2.934981 3.78798,3.451894,1.338969 3.11352,3.592894,1.092779 2.47427,3.590894,0.859169 -0.95922,3.150694,0.935309 1.06824,3.351594,0.348659 -0.63636,3.141694,-0.272941 3.62975,3.296994,1.856139 0.46283,2.777994,1.746409 -4.41742,6.757294,-2.117351 -3.53003,6.039494,-0.045661 -2.00793,3.764294,1.132309 -1.42668,7.735494,-1.176951 -1.17995,7.796794,-1.085671 1.26518,3.370594,-0.158051 -3.0709,-5.386796,3.724629 -2.97143,-5.384906,3.747709 -2.87299,-5.381806,3.756829 -2.77157,-5.388466,3.762439 -2.67364,-5.382426,3.744109 -2.58445,-5.376106,3.714949 -1.47749,6.854494,-0.449971 2.20235,3.554394,-0.101161 -6.31168,3.993094,1.626969 1.81356,2.682194,-2.027631 -2.07528,-5.404116,3.548419 -1.97338,-5.404576,3.529909 -1.87253,-5.405856,3.509529 -1.77253,-5.410226,3.470579 -1.6733,-5.413836,3.441359 -1.57257,-5.416076,3.418969 -1.47346,-5.419106,3.390479 -3.52873,8.162194,-6.977821 -3.83352,6.722594,-2.766681 -0.68867,3.052194,1.034509 -5.38669,5.557594,2.543579 -3.83365,5.989594,-0.298481 2.46187,3.251094,2.019639 -6.29884,-0.227126,0.648899 4.76275,2.590794,2.273029 4.68637,2.648194,2.244899 -3