Method expand_cloud

Simulator/src/src/sensor_simulator.cpp:100–133

TODO: 不能像python那样用一个向量一次性全算吗？

// TODO: 不能像python那样用一个向量一次性全算吗？
void SensorSimulator::expand_cloud(pcl::PointCloud<pcl::PointXYZ>::Ptr expanded_cloud, int direction) {
    auto start = std::chrono::high_resolution_clock::now();
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_temp(new pcl::PointCloud<pcl::PointXYZ>());
    *cloud_temp = *expanded_cloud;
    pcl::PointXYZ min_point, max_point;
    pcl::getMinMax3D(*expanded_cloud, min_point, max_point);

    float min_value = (direction == 0) ? min_point.x : min_point.y;
    float max_value = (direction == 0) ? max_point.x : max_point.y;

    // 镜像原始点云并添加到扩展点云中
    for (const auto& point : cloud_temp->points) {
        pcl::PointXYZ mirrored_point = point;
        if (direction == 0) {
            mirrored_point.x = 2 * min_value - point.x;  // 以 x 轴最小值为轴进行镜像
        } else {
            mirrored_point.y = 2 * min_value - point.y;  // 以 y 轴最小值为轴进行镜像
        }
        expanded_cloud->push_back(mirrored_point);
    }

    // 计算偏移量，保证方向上的最小值为0
    float offset = max_value - min_value;
    for (auto& point : expanded_cloud->points) {
        if (direction == 0) {
            point.x += offset;
        } else {
            point.y += offset;
        }
    }
    auto end = std::chrono::high_resolution_clock::now();
    std::chrono::duration<double> elapsed = end - start;
    // std::cout << "点云扩张一次耗时: " << elapsed.count() << " 秒" << std::endl; // 输出耗时
}


void SensorSimulator::timerDepthCallback(const ros::TimerEvent&) {