SOR Filtering, RANSAC based plane segmentation, normal estimation, visualization.
The main and utils code is present in /src headers in /include Put your .pcd files(http://pointclouds.org/documentation/tutorials/pcd_file_format.php) in data and op in /out.
move to build folder ie (depending on your file location)
cd Downloads/pointcloud/build
and then use
cmake ..
make
./main