update:数据加载保存优化

CloudUtils/Inc/LaserDataLoader.h

@@ -4,6 +4,7 @@
 #include <vector>
 #include <string>
 #include <functional>
+#include <iosfwd>
 #include "VZNL_Types.h"
 #include "VrError.h"
 #include "PointCloudXYZRange.h"
@@ -102,6 +103,9 @@ public:
                                 int maxTimeStamp,
                                 int clockPerSecond);
 
+    static bool WriteLaserScanLine(std::ostream& stream, EVzResultDataType dataType,
+                                   const SVzLaserLineData& lineData);
+
     int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData);
     int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData,
                        ISaveProgressCallback* callback);

CloudUtils/Src/LaserDataLoader.cpp

@@ -1017,17 +1017,43 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
         sw << "PointAdjust: 1" << '\n';
         sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << '\n';
         
-        // 写入每条扫描线数据
         for (const auto& linePair : laserLines) {
+            if (!WriteLaserScanLine(sw, linePair.first, linePair.second)) {
+                m_lastError = "Failed while writing laser line";
+                return ERR_CODE(FILE_ERR_WRITE);
+            }
+        }
+        sw.flush();
+        if (!sw.good()) {
+            m_lastError = "Failed while writing file: " + fileName;
+            LOG_ERROR("Failed while writing file: %s\n", fileName.c_str());
+            return ERR_CODE(FILE_ERR_WRITE);
+        }
+        sw.close();
+        // 关闭文件时也可能提交写入失败，不能让调用方误以为现场已保存完整。
+        if (!sw.good())
+        {
+            m_lastError = "Failed while closing file: " + fileName;
+            return ERR_CODE(FILE_ERR_WRITE);
+        }
+        return SUCCESS;
         
-            EVzResultDataType dataType = linePair.first;
+    } catch (const std::exception& e) {
-            const SVzLaserLineData& lineData = linePair.second;
+        m_lastError = "Error saving unified file: " + std::string(e.what());
+        LOG_ERROR("Error saving unified laser data to file: %s\n", e.what());
+        return ERR_CODE(FILE_ERR_WRITE);
+    }
+}
 
+bool LaserDataLoader::WriteLaserScanLine(std::ostream& sw, EVzResultDataType dataType,
+                                         const SVzLaserLineData& lineData)
+{
+    if (lineData.nPointCount < 0 || (lineData.nPointCount > 0 && !lineData.p3DPoint)) return false;
+    if (dataType != keResultDataType_Position && dataType != keResultDataType_PositionF &&
+        dataType != keResultDataType_PointXYZI && dataType != keResultDataType_PointXYZRGBA) return false;
     sw << "Line_" << lineData.llFrameIdx << "_" << lineData.llTimeStamp << "_" << lineData.nPointCount << '\n';
 
-            // 根据数据类型写入点云数据
     if (dataType == keResultDataType_Position && lineData.p3DPoint) {
-                // 写入XYZ格式数据
         const SVzNL3DPosition* points = static_cast<const SVzNL3DPosition*>(lineData.p3DPoint);
         const SVzNL2DPosition* points2D = static_cast<const SVzNL2DPosition*>(lineData.p2DPoint);
         constexpr int BATCH = 256;
@@ -1042,8 +1068,8 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
                 float z = static_cast<float>(points[i].pt3D.z);
                 AppendFormattedLine(buffer, "{ %.6f,%.6f,%.6f }-{ %d,%d }-{ %d,%d }\n",
                                     x, y, z,
-                                            points2D[i].ptLeft2D.x, points2D[i].ptLeft2D.y,
+                                    points2D ? points2D[i].ptLeft2D.x : 0, points2D ? points2D[i].ptLeft2D.y : 0,
-                                            points2D[i].ptRight2D.x, points2D[i].ptRight2D.y);
+                                    points2D ? points2D[i].ptRight2D.x : 0, points2D ? points2D[i].ptRight2D.y : 0);
             }
             sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
         }
@@ -1068,8 +1094,6 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
             sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
         }
     } else if (dataType == keResultDataType_PointXYZI && lineData.p3DPoint) {
-                // LiDAR 点云：snprintf 批量写入，每 256 点 flush
-                // 坐标 mm 范围可达 ±200000 → "%.6f" 最长 14 字符 → 整行 ≤73 字符
         const SVzNLPointXYZI* points = static_cast<const SVzNLPointXYZI*>(lineData.p3DPoint);
         const int n = lineData.nPointCount;
         constexpr int BATCH = 256;
@@ -1087,7 +1111,6 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
             sw.write(buf, p - buf);
         }
     } else if (dataType == keResultDataType_PointXYZRGBA && lineData.p3DPoint) {
-                // 写入RGBD格式数据
         const SVzNLPointXYZRGBA* points = static_cast<const SVzNLPointXYZRGBA*>(lineData.p3DPoint);
         const SVzNL2DLRPoint* points2D = static_cast<const SVzNL2DLRPoint*>(lineData.p2DPoint);
         constexpr int BATCH = 256;
@@ -1107,34 +1130,14 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
                 AppendFormattedLine(buffer, "{%.6f,%.6f,%.6f,%.6f,%.6f,%.6f}-{ %d,%d }-{ %d,%d }\n",
                                     x, y, z,
                                     b * 1.0f / 255, g * 1.0f / 255, r * 1.0f / 255,
-                                            points2D[i].sLeft.x, points2D[i].sLeft.y,
+                                    points2D ? points2D[i].sLeft.x : 0, points2D ? points2D[i].sLeft.y : 0,
-                                            points2D[i].sRight.x, points2D[i].sRight.y);
+                                    points2D ? points2D[i].sRight.x : 0, points2D ? points2D[i].sRight.y : 0);
             }
             sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
         }
     }
-        }
 
-        sw.flush();
+    return sw.good();
-        if (!sw.good()) {
-            m_lastError = "Failed while writing file: " + fileName;
-            LOG_ERROR("Failed while writing file: %s\n", fileName.c_str());
-            return ERR_CODE(FILE_ERR_WRITE);
-        }
-        sw.close();
-        // 关闭文件时也可能提交写入失败，不能让调用方误以为现场已保存完整。
-        if (!sw.good())
-        {
-            m_lastError = "Failed while closing file: " + fileName;
-            return ERR_CODE(FILE_ERR_WRITE);
-        }
-        return SUCCESS;
-        
-    } catch (const std::exception& e) {
-        m_lastError = "Error saving unified file: " + std::string(e.what());
-        LOG_ERROR("Error saving unified laser data to file: %s\n", e.what());
-        return ERR_CODE(FILE_ERR_WRITE);
-    }
 }
 
 int LaserDataLoader::SaveLaserScanDataBinary(