修复崩溃，修复选点序号不对

CloudUtils/Src/LaserDataLoader.cpp

@@ -121,13 +121,19 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
             // 使用正则表达式判断是XYZ还是RGBD格式
             // XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY}
             // RGBD格式: {x,y,z,r,g,b}-{leftX,leftY}-{rightX,rightY}
-            
+
             // 更精确的正则表达式，匹配完整的行格式
             if(sLaserData.p3DPoint == nullptr || sLaserData.p2DPoint == nullptr) {
                 LOG_ERROR("sLaserData.p3DPoint == nullptr || sLaserData.p2DPoint == nullptr \n");
                 return ERR_CODE(DATA_ERR_INVALID);
             }
 
+            // 防止数组越界：跳过超出声明点数的数据行
+            if (nLaserPointIdx >= sLaserData.nPointCount) {
+                LOG_WARN("nLaserPointIdx(%d) >= nPointCount(%d), skip\n", nLaserPointIdx, sLaserData.nPointCount);
+                continue;
+            }
+
             if (eDataType == keResultDataType_PointXYZRGBA) {
                 SVzNLPointXYZRGBA* pRGBAPoints = static_cast<SVzNLPointXYZRGBA*>(sLaserData.p3DPoint);
                 SVzNL2DLRPoint* p2DPoints = static_cast<SVzNL2DLRPoint*>(sLaserData.p2DPoint);

CloudView/Inc/PointCloudGLWidget.h

@@ -287,6 +287,7 @@ private:
         std::vector<float> colors;
         std::vector<int> lineIndices;      // 每个点所属的线索引
         std::vector<int> originalIndices;  // 每个显示点在原始点云中的索引（用于计算原始index）
+        std::vector<int> pointInLineIndices; // 每个显示点在所属线中的索引（预计算，支持不等长线）
         bool hasColor;
         bool hasLineInfo;                  // 是否有线信息
         QString name;
@@ -322,6 +323,7 @@ private:
             , colors(std::move(other.colors))
             , lineIndices(std::move(other.lineIndices))
             , originalIndices(std::move(other.originalIndices))
+            , pointInLineIndices(std::move(other.pointInLineIndices))
             , hasColor(other.hasColor)
             , hasLineInfo(other.hasLineInfo)
             , name(std::move(other.name))
@@ -351,6 +353,7 @@ private:
                 colors = std::move(other.colors);
                 lineIndices = std::move(other.lineIndices);
                 originalIndices = std::move(other.originalIndices);
+                pointInLineIndices = std::move(other.pointInLineIndices);
                 hasColor = other.hasColor;
                 hasLineInfo = other.hasLineInfo;
                 name = std::move(other.name);

CloudView/Src/PointCloudGLWidget.cpp

@@ -255,13 +255,27 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
     data.pointsPerLine = 0;
 
     const float EPSILON = 1e-6f;
+    int prevLineIdx = -1;
+    int ptInLineCounter = 0;
     for (size_t i = 0; i < cloud.points.size(); ++i) {
+        // 跟踪线内索引（对所有点递增，包括被过滤的零点）
+        int lineIdx = -1;
+        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
+            lineIdx = cloud.lineIndices[i];
+        }
+        if (lineIdx != prevLineIdx) {
+            ptInLineCounter = 0;
+            prevLineIdx = lineIdx;
+        }
+
         const auto& pt = cloud.points[i];
         if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) {
+            ptInLineCounter++;
             continue;
         }
         // 显示时过滤 (0,0,0) 点
         if (std::fabs(pt.x) < EPSILON && std::fabs(pt.y) < EPSILON && std::fabs(pt.z) < EPSILON) {
+            ptInLineCounter++;
             continue;
         }
         data.vertices.push_back(pt.x);
@@ -271,14 +285,18 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
         // 保存原始索引
         data.originalIndices.push_back(static_cast<int>(i));
 
+        // 保存线内索引（点在所属线中的位置）
+        data.pointInLineIndices.push_back(ptInLineCounter);
+
         // 保存线索引
-        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
+        if (lineIdx >= 0) {
-            int lineIdx = cloud.lineIndices[i];
             data.lineIndices.push_back(lineIdx);
             if (lineIdx + 1 > data.totalLines) {
                 data.totalLines = lineIdx + 1;
             }
         }
+
+        ptInLineCounter++;
     }
 
     // 计算每线点数（假设网格化点云）
@@ -328,9 +346,31 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
     // 用于按点大小分组的临时 map
     std::map<float, std::vector<size_t>> sizeGroupMap;
 
+    const float EPSILON = 1e-6f;
+    int prevLineIdx = -1;
+    int ptInLineCounter = 0;
+
     for (size_t i = 0; i < cloud.points.size(); ++i) {
         const auto& pt = cloud.points[i];
+
+        // 跟踪线内索引（对所有点递增，包括被过滤的零点）
+        int lineIdx = -1;
+        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
+            lineIdx = cloud.lineIndices[i];
+        }
+        if (lineIdx != prevLineIdx) {
+            ptInLineCounter = 0;
+            prevLineIdx = lineIdx;
+        }
+
         if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) {
+            ptInLineCounter++;
+            continue;
+        }
+
+        // 显示时过滤 (0,0,0) 点
+        if (std::fabs(pt.x) < EPSILON && std::fabs(pt.y) < EPSILON && std::fabs(pt.z) < EPSILON) {
+            ptInLineCounter++;
             continue;
         }
 
@@ -347,9 +387,11 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
         // 保存原始索引
         data.originalIndices.push_back(static_cast<int>(i));
 
+        // 保存线内索引（点在所属线中的位置）
+        data.pointInLineIndices.push_back(ptInLineCounter);
+
         // 保存线索引
-        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
+        if (lineIdx >= 0) {
-            int lineIdx = cloud.lineIndices[i];
             data.lineIndices.push_back(lineIdx);
             if (lineIdx + 1 > data.totalLines) {
                 data.totalLines = lineIdx + 1;
@@ -360,6 +402,8 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
         if (pt.pointSize > 1.0f) {
             sizeGroupMap[pt.pointSize].push_back(pointIndex);
         }
+
+        ptInLineCounter++;
     }
 
     // 构建自定义点大小分组
@@ -843,10 +887,9 @@ SelectedPointInfo PointCloudGLWidget::pickPoint(int screenX, int screenY)
         // 计算点在线中的原始索引
         if (bestLineIndex >= 0 && bestCloudIndex >= 0) {
             const auto& cloudData = m_pointClouds[bestCloudIndex];
-            // 使用原始索引计算：原始索引 % 每线点数
+            // 使用预计算的线内索引（支持不等长线）
-            if (bestIndex < cloudData.originalIndices.size() && cloudData.pointsPerLine > 0) {
+            if (bestIndex < cloudData.pointInLineIndices.size()) {
-                int originalIdx = cloudData.originalIndices[bestIndex];
+                result.pointIndexInLine = cloudData.pointInLineIndices[bestIndex];
-                result.pointIndexInLine = originalIdx % cloudData.pointsPerLine;
             }
         }