feat(PointCloudImageUtils): 添加通用点云画布类用于绘制点云底图和标记

CloudUtils/Inc/PointCloudImageUtils.h

@@ -111,6 +111,10 @@ public:
         double rotateY_deg = 0.0,
         bool useZGradient = false);
 
+    // 计算scan lines格式点云的范围
+    static void CalculateScanLinesRange(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
+                                        double& xMin, double& xMax,
+                                        double& yMin, double& yMax);
 private:
     // 定义线特征颜色和大小获取函数
     static void GetLineFeatureStyle(int vType, int hType, int objId,
@@ -124,10 +128,6 @@ private:
                                         double& xMin, double& xMax,
                                         double& yMin, double& yMax);
 
-    // 计算scan lines格式点云的范围
-    static void CalculateScanLinesRange(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
-                                       double& xMin, double& xMax,
-                                       double& yMin, double& yMax);
 
     // 绘制LapWeld检测结果
     static void DrawLapWeldResults(QPainter& painter,
@@ -149,4 +149,53 @@ private:
         int imgCols, int imgRows);
 };
 
+/**
+ * @brief 通用点云画布类
+ * 封装点云底图生成 + 3D→2D投影 + 通用绘图原语
+ * 调用方可自由组合绘制点、文字、线段、圆等标记
+ */
+class PointCloudCanvas
+{
+public:
+    /**
+     * @brief 从 scan lines 创建画布，生成灰色点云底图
+     * @param scanLines 扫描线数据
+     * @param imageWidth 图像宽度（像素）
+     * @param imageHeight 图像高度（像素）
+     * @param margin 边距（像素）
+     */
+    static PointCloudCanvas Create(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
+                    int imageWidth = 1056, int imageHeight = 992, int margin = 50);
+
+    bool isValid() const;
+    QImage& image();
+    const QImage& image() const;
+
+    /// 3D坐标→图像像素坐标
+    QPoint project(double x, double y) const;
+
+    /// 绘制实心圆点
+    void drawPoint(double x, double y, const QColor& color, int size = 4);
+
+    /// 绘制圆（radius3D为3D空间半径，自动投影为像素半径）
+    void drawCircle(double x, double y, double radius3D, const QColor& color, int penWidth = 2, bool fill = false);
+
+    /// 绘制文字（offsetX/offsetY 为像素偏移）
+    void drawText(double x, double y, const QString& text, const QColor& color, int fontSize = 14, int offsetX = 8, int offsetY = 6);
+
+    /// 绘制线段
+    void drawLine(double x1, double y1, double x2, double y2, const QColor& color, int penWidth = 2);
+
+private:
+    QImage m_image;
+    double m_xMin = 0.0;
+    double m_yMin = 0.0;
+    double m_scale = 1.0;
+    int m_offsetX = 0;
+    int m_offsetY = 0;
+    int m_imgWidth = 0;
+    int m_imgHeight = 0;
+    bool m_valid = false;
+};
+
 #endif // POINTCLOUDIMAGEUTILS_H

CloudUtils/Src/PointCloudImageUtils.cpp

@@ -1695,3 +1695,144 @@ QImage PointCloudImageUtils::GenerateHoleDetectionImage(
 
     return image;
 }
+
+// ==================== PointCloudCanvas 实现 ====================
+
+PointCloudCanvas PointCloudCanvas::Create(
+    const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
+    int imageWidth, int imageHeight, int margin)
+{
+    PointCloudCanvas canvas;
+    canvas.m_imgWidth = imageWidth;
+    canvas.m_imgHeight = imageHeight;
+
+    if (scanLines.empty()) {
+        return canvas;
+    }
+
+    // 计算点云范围
+    double xMin, xMax, yMin, yMax;
+    PointCloudImageUtils::CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
+
+    if (xMax <= xMin || yMax <= yMin) {
+        return canvas;
+    }
+
+    // 计算投影参数
+    double drawableW = (double)(imageWidth  - margin * 2);
+    double drawableH = (double)(imageHeight - margin * 2);
+    double xScale = (xMax - xMin) / drawableW;
+    double yScale = (yMax - yMin) / drawableH;
+    double scale = std::max(xScale, yScale);
+
+    canvas.m_xMin = xMin;
+    canvas.m_yMin = yMin;
+    canvas.m_scale = scale;
+    canvas.m_offsetX = margin;
+    canvas.m_offsetY = margin;
+    canvas.m_valid = true;
+
+    // 创建黑底图像
+    canvas.m_image = QImage(imageWidth, imageHeight, QImage::Format_RGB888);
+    canvas.m_image.fill(Qt::black);
+
+    // 绘制灰色点云底图
+    QPainter painter(&canvas.m_image);
+    QColor grayColor(150, 150, 150);
+    for (const auto& scanLine : scanLines) {
+        for (const auto& point : scanLine) {
+            if (point.pt3D.z < 1e-4) continue;
+
+            int px = (int)((point.pt3D.x - xMin) / scale + margin);
+            int py = (int)((point.pt3D.y - yMin) / scale + margin);
+
+            if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) {
+                painter.setPen(QPen(grayColor, 1));
+                painter.drawPoint(px, py);
+            }
+        }
+    }
+
+    return canvas;
+}
+
+bool PointCloudCanvas::isValid() const
+{
+    return m_valid;
+}
+
+QImage& PointCloudCanvas::image()
+{
+    return m_image;
+}
+
+const QImage& PointCloudCanvas::image() const
+{
+    return m_image;
+}
+
+QPoint PointCloudCanvas::project(double x, double y) const
+{
+    int px = (int)((x - m_xMin) / m_scale + m_offsetX);
+    int py = (int)((y - m_yMin) / m_scale + m_offsetY);
+    return QPoint(px, py);
+}
+
+void PointCloudCanvas::drawPoint(double x, double y, const QColor& color, int size)
+{
+    if (!m_valid) return;
+    QPoint pt = project(x, y);
+    if (pt.x() < 0 || pt.x() >= m_imgWidth || pt.y() < 0 || pt.y() >= m_imgHeight) return;
+
+    QPainter painter(&m_image);
+    painter.setRenderHint(QPainter::Antialiasing);
+    painter.setPen(QPen(color, 1));
+    painter.setBrush(QBrush(color));
+    painter.drawEllipse(pt.x() - size / 2, pt.y() - size / 2, size, size);
+}
+
+void PointCloudCanvas::drawCircle(double x, double y, double radius3D,
+                                   const QColor& color, int penWidth, bool fill)
+{
+    if (!m_valid) return;
+    QPoint pt = project(x, y);
+    if (pt.x() < 0 || pt.x() >= m_imgWidth || pt.y() < 0 || pt.y() >= m_imgHeight) return;
+
+    int pixelRadius = (int)(radius3D / m_scale);
+    if (pixelRadius < 3) pixelRadius = 3;
+
+    QPainter painter(&m_image);
+    painter.setRenderHint(QPainter::Antialiasing);
+    painter.setPen(QPen(color, penWidth));
+    painter.setBrush(fill ? QBrush(color) : Qt::NoBrush);
+    painter.drawEllipse(pt.x() - pixelRadius, pt.y() - pixelRadius,
+                        pixelRadius * 2, pixelRadius * 2);
+}
+
+void PointCloudCanvas::drawText(double x, double y, const QString& text,
+                                 const QColor& color, int fontSize,
+                                 int offsetX, int offsetY)
+{
+    if (!m_valid) return;
+    QPoint pt = project(x, y);
+    if (pt.x() < 0 || pt.x() >= m_imgWidth || pt.y() < 0 || pt.y() >= m_imgHeight) return;
+
+    QPainter painter(&m_image);
+    painter.setPen(QPen(color, 1));
+    QFont font("Arial", fontSize, QFont::Bold);
+    painter.setFont(font);
+    painter.drawText(pt.x() + offsetX, pt.y() + offsetY, text);
+}
+
+void PointCloudCanvas::drawLine(double x1, double y1, double x2, double y2,
+                                 const QColor& color, int penWidth)
+{
+    if (!m_valid) return;
+    QPoint pt1 = project(x1, y1);
+    QPoint pt2 = project(x2, y2);
+
+    QPainter painter(&m_image);
+    painter.setRenderHint(QPainter::Antialiasing);
+    painter.setPen(QPen(color, penWidth));
+    painter.drawLine(pt1, pt2);
+}