将视图控制封装到CloudView3D中

CloudView/Inc/CloudViewMainWindow.h

@@ -146,11 +146,6 @@ private slots:
      */
     void onPoint2CoordChanged();
 
-    /**
-     * @brief 处理视角旋转角度改变事件
-     */
-    void onViewAnglesChanged(float rotX, float rotY, float rotZ);
-
     /**
      * @brief 通过输入线号选择线
      */
@@ -243,11 +238,6 @@ private:
      */
     QGroupBox* createFileGroup();
 
-    /**
-     * @brief 创建视图方向工具栏（纵向排列，位于3D视图左侧）
-     */
-    QWidget* createViewToolbar();
-
     /**
      * @brief 创建选点测距组
      */
@@ -328,11 +318,6 @@ private:
     QPushButton* m_btnOpenBBox;
     QPushButton* m_btnClearAll;
 
-    // 视图角度输入控件
-    QLineEdit* m_editRotX;
-    QLineEdit* m_editRotY;
-    QLineEdit* m_editRotZ;
-
     // 选点测距控件
     QCheckBox* m_cbMeasureDistance;
     QPushButton* m_btnClearPoints;
@@ -407,10 +392,6 @@ private:
     QTableWidget* m_linePointsTable;
     QVector<QVector3D> m_currentLinePoints;  // 当前线的原始点坐标
 
-    // 悬浮缩放按钮
-    QToolButton* m_btnZoomIn;
-    QToolButton* m_btnZoomOut;
-
     // 启动参数序列显示
     QVector<StartupItem> m_startupSequence;
     int m_startupSequenceIndex;

CloudView/Src/CloudViewMainWindow.cpp

@@ -1115,19 +1115,7 @@ void CloudViewMainWindow::fitViewToContent()
 
 bool CloudViewMainWindow::eventFilter(QObject* obj, QEvent* event)
 {
-    if (obj == m_glWidget && event->type() == QEvent::Resize) {
+    // 缩放按钮已移至 CloudView3D，事件过滤器不再需要处理缩放按钮定位
-        auto* resizeEvt = static_cast<QResizeEvent*>(event);
-        int w = resizeEvt->size().width();
-        int h = resizeEvt->size().height();
-        int btnW = m_btnZoomIn->width();
-        int btnH = m_btnZoomIn->height();
-        int margin = 8;
-        int gap = 4;
-        int x = w - btnW - margin;
-        int y = (h - btnH * 2 - gap) / 2;
-        m_btnZoomIn->move(x, y);
-        m_btnZoomOut->move(x, y + btnH + gap);
-    }
     return QMainWindow::eventFilter(obj, event);
 }
 
@@ -1206,16 +1194,12 @@ void CloudViewMainWindow::setupUI()
     // 创建分割器
     QSplitter* splitter = new QSplitter(Qt::Horizontal, centralWidget);
 
-    // 左侧：视图工具栏 + 点云显示区域
+    // 左侧：点云显示区域（视图工具栏已移至 CloudView3D）
     QWidget* viewerContainer = new QWidget(splitter);
     QHBoxLayout* viewerLayout = new QHBoxLayout(viewerContainer);
     viewerLayout->setContentsMargins(0, 0, 0, 0);
     viewerLayout->setSpacing(2);
 
-    // 视图方向工具栏（纵向排列，在3D视图左侧）
-    QWidget* viewToolbar = createViewToolbar();
-    viewerLayout->addWidget(viewToolbar);
-
     // 点云显示区域
     QWidget* viewerArea = createViewerArea();
     viewerLayout->addWidget(viewerArea);
@@ -1246,50 +1230,12 @@ QWidget* CloudViewMainWindow::createViewerArea()
     m_glWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
     layout->addWidget(m_glWidget);
 
-    // 悬浮缩放按钮（父控件为 m_glWidget，悬浮在右侧中间）
+    // 缩放按钮 / 旋转角度显示已移至 CloudView3D，此处不再创建
-    int zoomBtnSize = 28;
-    QString zoomBtnStyle =
-        "QToolButton {"
-        "  background-color: rgba(50, 50, 50, 180);"
-        "  color: white;"
-        "  border: 1px solid rgba(120, 120, 120, 150);"
-        "  border-radius: 4px;"
-        "  font-size: 32px;"
-        "  font-weight: bold;"
-        "}"
-        "QToolButton:hover {"
-        "  background-color: rgba(80, 80, 80, 220);"
-        "}"
-        "QToolButton:pressed {"
-        "  background-color: rgba(30, 30, 30, 240);"
-        "}";
-
-    m_btnZoomIn = new QToolButton(m_glWidget);
-    m_btnZoomIn->setText("+");
-    m_btnZoomIn->setFixedSize(zoomBtnSize, zoomBtnSize);
-    m_btnZoomIn->setStyleSheet(zoomBtnStyle);
-    m_btnZoomIn->setAutoRepeat(true);
-    m_btnZoomIn->setAutoRepeatDelay(300);
-    m_btnZoomIn->setAutoRepeatInterval(50);
-    connect(m_btnZoomIn, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomIn);
-
-    m_btnZoomOut = new QToolButton(m_glWidget);
-    m_btnZoomOut->setText("-");
-    m_btnZoomOut->setFixedSize(zoomBtnSize, zoomBtnSize);
-    m_btnZoomOut->setStyleSheet(zoomBtnStyle);
-    m_btnZoomOut->setAutoRepeat(true);
-    m_btnZoomOut->setAutoRepeatDelay(300);
-    m_btnZoomOut->setAutoRepeatInterval(50);
-    connect(m_btnZoomOut, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomOut);
-
-    // 安装事件过滤器，在 GL 控件 resize 时更新按钮位置
-    m_glWidget->installEventFilter(this);
 
     // 连接信号
     connect(m_glWidget, &PointCloudGLWidget::pointSelected, this, &CloudViewMainWindow::onPointSelected);
     connect(m_glWidget, &PointCloudGLWidget::twoPointsSelected, this, &CloudViewMainWindow::onTwoPointsSelected);
     connect(m_glWidget, &PointCloudGLWidget::lineSelected, this, &CloudViewMainWindow::onLineSelected);
-    connect(m_glWidget, &PointCloudGLWidget::viewAnglesChanged, this, &CloudViewMainWindow::onViewAnglesChanged);
 
     return widget;
 }
@@ -1349,111 +1295,6 @@ QGroupBox* CloudViewMainWindow::createFileGroup()
     return group;
 }
 
-QWidget* CloudViewMainWindow::createViewToolbar()
-{
-    QWidget* widget = new QWidget(this);
-    QVBoxLayout* layout = new QVBoxLayout(widget);
-    layout->setContentsMargins(2, 2, 2, 2);
-    layout->setSpacing(3);
-
-    // 视图预设：图标、提示、旋转角度
-    struct ViewPreset {
-        const char* iconPath;
-        const char* fallbackText;
-        const char* tooltip;
-        float rotX;
-        float rotY;
-        float rotZ;
-    };
-
-    // 坐标系定义：X向右，Y向下，Z朝后
-    ViewPreset presets[] = {
-        {":/common/resource/view_front.png",  "前", "正视 (XY面)",   180.0f,    0.0f,   0.0f},
-        {":/common/resource/view_back.png",   "后", "后视",          180.0f,  180.0f,   0.0f},
-        {":/common/resource/view_left.png",   "左", "左视 (YZ面)",   180.0f,   90.0f,   0.0f},
-        {":/common/resource/view_right.png",  "右", "右视",          180.0f,  -90.0f,   0.0f},
-        {":/common/resource/view_top.png",    "上", "俯视 (XZ面)",    90.0f,    0.0f,   0.0f},
-        {":/common/resource/view_bottom.png", "下", "仰视",          -90.0f,    0.0f,   0.0f},
-        {":/common/resource/view_robot.png",  "机", "机械臂",         -90.0f,   90.0f,   0.0f},
-    };
-
-    int btnSize = 32;
-    int iconSize = 24;
-
-    for (const auto& preset : presets) {
-        QToolButton* btn = new QToolButton(widget);
-        const QIcon icon(preset.iconPath);
-        if (icon.isNull()) {
-            btn->setText(QString::fromUtf8(preset.fallbackText));
-        } else {
-            btn->setIcon(icon);
-            btn->setIconSize(QSize(iconSize, iconSize));
-        }
-        btn->setFixedSize(btnSize, btnSize);
-        btn->setToolTip(preset.tooltip);
-        btn->setAutoRaise(true);
-
-        float rx = preset.rotX;
-        float ry = preset.rotY;
-        float rz = preset.rotZ;
-        connect(btn, &QToolButton::clicked, this, [this, rx, ry, rz]() {
-            m_glWidget->setViewAngles(rx, ry, rz);
-            m_editRotX->setText(QString::number(rx, 'f', 1));
-            m_editRotY->setText(QString::number(ry, 'f', 1));
-            m_editRotZ->setText(QString::number(rz, 'f', 1));
-        });
-        layout->addWidget(btn);
-    }
-
-    layout->addStretch();
-
-    // 旋转角度输入（纵向紧凑布局）
-    m_editRotX = new QLineEdit("180.0", widget);
-    m_editRotY = new QLineEdit("0.0", widget);
-    m_editRotZ = new QLineEdit("0.0", widget);
-
-    auto makeAngleRow = [&](const QString& label, QLineEdit* edit) {
-        QWidget* row = new QWidget(widget);
-        QVBoxLayout* rowLayout = new QVBoxLayout(row);
-        rowLayout->setContentsMargins(0, 0, 0, 0);
-        rowLayout->setSpacing(0);
-        QLabel* lbl = new QLabel(label, row);
-        lbl->setStyleSheet("font-size: 10px; color: gray;");
-        rowLayout->addWidget(lbl);
-        edit->setFixedWidth(btnSize);
-        edit->setMaximumHeight(20);
-        edit->setStyleSheet("font-size: 10px;");
-        rowLayout->addWidget(edit);
-        return row;
-    };
-
-    layout->addWidget(makeAngleRow("RX", m_editRotX));
-    layout->addWidget(makeAngleRow("RY", m_editRotY));
-    layout->addWidget(makeAngleRow("RZ", m_editRotZ));
-
-    // 应用按钮
-    QPushButton* btnApply = new QPushButton("GO", widget);
-    btnApply->setFixedSize(btnSize, 20);
-    btnApply->setStyleSheet("font-size: 10px;");
-    auto applyAngles = [this]() {
-        bool okX, okY, okZ;
-        float rotX = m_editRotX->text().toFloat(&okX);
-        float rotY = m_editRotY->text().toFloat(&okY);
-        float rotZ = m_editRotZ->text().toFloat(&okZ);
-        if (okX && okY && okZ) {
-            m_glWidget->setViewAngles(rotX, rotY, rotZ);
-        }
-    };
-    connect(btnApply, &QPushButton::clicked, this, applyAngles);
-    connect(m_editRotX, &QLineEdit::returnPressed, this, applyAngles);
-    connect(m_editRotY, &QLineEdit::returnPressed, this, applyAngles);
-    connect(m_editRotZ, &QLineEdit::returnPressed, this, applyAngles);
-    layout->addWidget(btnApply);
-
-    widget->setFixedWidth(btnSize + 8);
-    return widget;
-}
-
 QWidget* CloudViewMainWindow::createMeasurePage()
 {
     QWidget* page = new QWidget(this);
@@ -4599,14 +4440,6 @@ void CloudViewMainWindow::onEulerOrderChanged(int index)
     LOG_INFO("[CloudView] Euler rotation order changed to: %s\n", orderName.toStdString().c_str());
 }
 
-void CloudViewMainWindow::onViewAnglesChanged(float rotX, float rotY, float rotZ)
-{
-    // 更新显示的角度值
-    m_editRotX->setText(QString::number(rotX, 'f', 1));
-    m_editRotY->setText(QString::number(rotY, 'f', 1));
-    m_editRotZ->setText(QString::number(rotZ, 'f', 1));
-}
-
 void CloudViewMainWindow::onPoint1CoordChanged()
 {
     // 读取编辑框中的坐标

CloudView3D/Inc/PointCloudGLWidget.h

@@ -4,6 +4,7 @@
 #include <QOpenGLWidget>
 #include <QOpenGLFunctions>
 #include <QOpenGLBuffer>
+#include <QOpenGLShaderProgram>
 #include <QMatrix4x4>
 #include <QVector3D>
 #include <QQuaternion>
@@ -14,6 +15,11 @@
 #include "CloudView3DTypes.h"
 #include "VZNL_Types.h"
 
+class QToolButton;
+class QPushButton;
+class QPinchGesture;
+class QResizeEvent;
+
 /**
  * @brief 点云显示颜色枚举
  */
@@ -352,6 +358,7 @@ signals:
     void viewAnglesChanged(float rotX, float rotY, float rotZ);
 
 protected:
+    bool event(QEvent* event) override;
     void initializeGL() override;
     void resizeGL(int w, int h) override;
     void paintGL() override;
@@ -361,6 +368,7 @@ protected:
     void wheelEvent(QWheelEvent* event) override;
     void mouseDoubleClickEvent(QMouseEvent* event) override;
     void keyPressEvent(QKeyEvent* event) override;
+    void resizeEvent(QResizeEvent* event) override;
 
 private:
     struct PointCloudData
@@ -457,9 +465,9 @@ private:
 
     void computeBoundingBox();
     void updateProjection(const QMatrix4x4& modelView);
+    float fittedCameraDistance(float padding = 1.05f) const;
     float minimumCameraDistance() const;
-    void setCurrentColor(PointCloudColor color);
+    QVector3D colorForIndex(int colorIndex) const;
-    void setColorByIndex(int colorIndex);  // 根据索引设置颜色
     SelectedPointInfo pickPoint(int screenX, int screenY);
     void drawSelectedPoints();
     void drawMeasurementLine();
@@ -475,13 +483,48 @@ private:
     void uploadToVBO(PointCloudData& data);    // 上传数据到 VBO
     void releaseVBO(PointCloudData& data);     // 释放 VBO 资源
 
+    // GLES2 shader 渲染
+    bool ensureShader();
+    void drawCloud(PointCloudData& data, float pointSize);
+    void drawPrimitives(const QMatrix4x4& mvp,
+                        const float* positions,
+                        int vertexCount,
+                        GLenum mode,
+                        const float* colors,
+                        const QVector3D& uniformColor,
+                        float pointSize,
+                        float alpha,
+                        bool depthTest);
+    void resetRenderState();
+
+    // 覆盖控件：左侧竖向视图按钮 / 左下角旋转角度 / 右侧缩放
+    void createOverlayControls();
+    void repositionOverlayControls();
+    void showViewAngleDialog();
+    void updateViewAngleDisplay();
+    bool handlePinchGesture(QPinchGesture* gesture);
+
     std::vector<PointCloudData> m_pointClouds;
 
     QMatrix4x4 m_projection;
     QMatrix4x4 m_view;
     QMatrix4x4 m_model;
+    QMatrix4x4 m_mvp;  // 当前帧的模型视图投影矩阵（点云主渲染用）
+
+    // GLES2 shader 渲染资源
+    QOpenGLShaderProgram* m_shader;
+    QOpenGLBuffer m_dynamicVbo;  // 动态叠加图元（选中点/线/轴/姿态等）的临时 VBO
+    bool m_shaderReady;
+    GLint m_mvpLocation;
+    GLint m_positionLocation;
+    GLint m_colorLocation;
+    GLint m_pointSizeLocation;
+    GLint m_alphaLocation;
+    GLint m_useVertexColorLocation;
+    GLint m_uniformColorLocation;
 
     float m_distance;
+    float m_pinchStartDistance;
     float m_rotationX;
     float m_rotationY;
     float m_rotationZ;
@@ -519,6 +562,13 @@ private:
     QVector<SurfaceQuad> m_basicShapeSurfaces;
     QVector<BasicShapePoint> m_basicShapePoints;
     QVector<PosePoint> m_posePoints;
+
+    // 覆盖控件
+    QWidget* m_viewToolbar;          // 左侧竖向视图按钮容器
+    QVector<QToolButton*> m_viewButtons;
+    QPushButton* m_viewAngleButton;  // 左下角旋转角度显示按钮
+    QToolButton* m_zoomInButton;
+    QToolButton* m_zoomOutButton;
 };
 
 #endif // POINT_CLOUD_GL_WIDGET_H