圆柱点云变换-展开为平面用于生成栅格地图

    for(int i=0;i<cloud->points.size();i++)
    {
        if(cloud->points[i].x>0)
        {
            cloud->points[i].z=0;
            double rad=asin(cloud->points[i].x/radius);
            cloud->points[i].x=rad*radius;
        }
        if(cloud->points[i].x<0)
        {
            cloud->points[i].z=0;
            double rad=asin(abs(cloud->points[i].x)/radius);
            cloud->points[i].x=rad*radius*-1;
        }
    }

通过cloud->points.size()获取点云数量，然后便利所有点云，将圆柱点云利用弧长展开成平面点云用于后续生成octomap