根据视点计算点云的freespace_evidence 参考资料: Bresenham's line algorithm:https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm Bresenham in 3D algorithm: http://members.chello.at/~easyfilter/bresenham.html //计算自由空间栅格,依赖视点 void qMIMSPlugin::doRasterFreeSpace…