输入坐标可直接显示;点云生成图像增加功能

CloudUtils/Inc/PointCloudImageUtils.h

@@ -99,11 +99,13 @@ public:
         double rotateY_deg = 0.0);
 
     // 孔洞检测图像生成 - 热力图底图 + 孔洞标记
+    // useZGradient: 为true时根据点云Z值范围生成灰度渐变底图，否则使用统一灰色底图
     static QImage GenerateHoleDetectionImage(
         const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
         const std::vector<HoleMarkerInfo>& holes,
         double rotateX_deg = 0.0,
-        double rotateY_deg = 0.0);
+        double rotateY_deg = 0.0,
+        bool useZGradient = false);
 
 private:
     // 定义线特征颜色和大小获取函数

CloudUtils/Src/PointCloudImageUtils.cpp

@@ -1448,10 +1448,135 @@ QImage PointCloudImageUtils::GenerateHoleDetectionImage(
     const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
     const std::vector<HoleMarkerInfo>& holes,
     double rotateX_deg,
-    double rotateY_deg)
+    double rotateY_deg,
+    bool useZGradient)
 {
-    // 先生成热力图底图（透传旋转参数）
+    QImage image;
-    QImage image = GenerateHeatmapImage(scanLines, rotateX_deg, rotateY_deg);
+
+    if (useZGradient) {
+        // 根据Z值范围生成灰度渐变底图
+        if (scanLines.empty()) {
+            return QImage();
+        }
+
+        // 预计算旋转参数
+        double cosX = cos(rotateX_deg * PI / 180.0);
+        double sinX = sin(rotateX_deg * PI / 180.0);
+        double cosY = cos(rotateY_deg * PI / 180.0);
+        double sinY = sin(rotateY_deg * PI / 180.0);
+        bool needRotate = (fabs(rotateX_deg) > 1e-6 || fabs(rotateY_deg) > 1e-6);
+
+        auto rotatePoint = [&](double x, double y, double z, double& rx, double& ry, double& rz) {
+            double y1 = y * cosX - z * sinX;
+            double z1 = y * sinX + z * cosX;
+            rx = x * cosY + z1 * sinY;
+            ry = y1;
+            rz = -x * sinY + z1 * cosY;
+        };
+
+        // 固定图像尺寸（与 GenerateHeatmapImage 一致）
+        int imgRows = 992;
+        int imgCols = 1056;
+        int x_skip = 50;
+        int y_skip = 50;
+
+        // 计算 XY 范围和 Z 范围
+        double xMin, xMax, yMin, yMax;
+        double zMin = std::numeric_limits<double>::max();
+        double zMax = -std::numeric_limits<double>::max();
+
+        if (!needRotate) {
+            CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
+            for (const auto& scanLine : scanLines) {
+                for (const auto& point : scanLine) {
+                    if (point.pt3D.z < 1e-4) continue;
+                    if (point.pt3D.z < zMin) zMin = point.pt3D.z;
+                    if (point.pt3D.z > zMax) zMax = point.pt3D.z;
+                }
+            }
+        } else {
+            xMin = yMin = std::numeric_limits<double>::max();
+            xMax = yMax = -std::numeric_limits<double>::max();
+            for (const auto& scanLine : scanLines) {
+                for (const auto& point : scanLine) {
+                    if (point.pt3D.z < 1e-4) continue;
+                    double rx, ry, rz;
+                    rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
+                    if (rx < xMin) xMin = rx;
+                    if (rx > xMax) xMax = rx;
+                    if (ry < yMin) yMin = ry;
+                    if (ry > yMax) yMax = ry;
+                    if (point.pt3D.z < zMin) zMin = point.pt3D.z;
+                    if (point.pt3D.z > zMax) zMax = point.pt3D.z;
+                }
+            }
+        }
+
+        if (xMax <= xMin || yMax <= yMin) {
+            return QImage();
+        }
+
+        double y_rows = (double)(imgRows - y_skip * 2);
+        double x_cols = (double)(imgCols - x_skip * 2);
+        double x_scale = (xMax - xMin) / x_cols;
+        double y_scale = (yMax - yMin) / y_rows;
+        if (x_scale < y_scale)
+            x_scale = y_scale;
+        else
+            y_scale = x_scale;
+
+        // 自适应点大小
+        int lineCount = static_cast<int>(scanLines.size());
+        int pointSize = 2;
+        if (lineCount > 1) {
+            double lineSpacing = (yMax - yMin) / (lineCount - 1);
+            pointSize = (int)std::ceil(lineSpacing / x_scale);
+            if (pointSize < 2) pointSize = 2;
+            if (pointSize > 6) pointSize = 6;
+        }
+
+        // 创建图像
+        image = QImage(imgCols, imgRows, QImage::Format_RGB888);
+        image.fill(Qt::black);
+
+        QPainter painter(&image);
+
+        double zRange = zMax - zMin;
+        for (const auto& scanLine : scanLines) {
+            for (const auto& point : scanLine) {
+                if (point.pt3D.z < 1e-4) continue;
+
+                double projX, projY;
+                if (needRotate) {
+                    double rx, ry, rz;
+                    rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
+                    projX = rx;
+                    projY = ry;
+                } else {
+                    projX = point.pt3D.x;
+                    projY = point.pt3D.y;
+                }
+
+                int px = (int)((projX - xMin) / x_scale + x_skip);
+                int py = (int)((projY - yMin) / y_scale + y_skip);
+
+                if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
+                    // Z值映射到灰度：zMin → 0(黑), zMax → 255(白)
+                    int gray = 0;
+                    if (zRange > 1e-6) {
+                        gray = (int)(255.0 * (point.pt3D.z - zMin) / zRange);
+                        if (gray < 0) gray = 0;
+                        if (gray > 255) gray = 255;
+                    }
+                    painter.fillRect(px, py, pointSize, pointSize, QColor(gray, gray, gray));
+                }
+            }
+        }
+    } else {
+        // 使用统一灰色底图
+        image = GenerateHeatmapImage(scanLines, rotateX_deg, rotateY_deg);
+    }
+
     if (image.isNull() || holes.empty()) {
         return image;
     }

CloudView/Inc/CloudViewMainWindow.h

@@ -303,6 +303,9 @@ private:
     QLineEdit* m_editRz2;
     QPushButton* m_btnShowPose2;
 
+    // 姿态坐标轴缩放
+    QLineEdit* m_editPoseScale;
+
     // 欧拉角旋转顺序选择
     QComboBox* m_comboEulerOrder;
 

CloudView/Src/CloudViewMainWindow.cpp

@@ -596,6 +596,16 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
     connect(m_editRy2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
     connect(m_editRz2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
 
+    // 姿态坐标轴缩放输入
+    QHBoxLayout* scaleLayout = new QHBoxLayout();
+    scaleLayout->setSpacing(5);
+    scaleLayout->addWidget(new QLabel("坐标轴长度:", group));
+    m_editPoseScale = new QLineEdit("10.0", group);
+    m_editPoseScale->setMaximumWidth(60);
+    scaleLayout->addWidget(m_editPoseScale);
+    scaleLayout->addStretch();
+    layout->addLayout(scaleLayout);
+
     // 分隔线
     QFrame* line3 = new QFrame(group);
     line3->setFrameShape(QFrame::HLine);
@@ -1588,8 +1598,9 @@ void CloudViewMainWindow::onShowPose1()
         return;
     }
 
-    // 固定大小为10
+    // 读取坐标轴缩放
-    float scale = 10.0f;
+    float scale = m_editPoseScale->text().toFloat(&ok);
+    if (!ok || scale <= 0) scale = 25.0f;
 
     // 清除之前的姿态点
     m_glWidget->clearPosePoints();
@@ -1661,8 +1672,9 @@ void CloudViewMainWindow::onShowPose2()
         return;
     }
 
-    // 固定大小为10
+    // 读取坐标轴缩放
-    float scale = 10.0f;
+    float scale = m_editPoseScale->text().toFloat(&ok);
+    if (!ok || scale <= 0) scale = 25.0f;
 
     // 清除之前的姿态点
     m_glWidget->clearPosePoints();
@@ -2023,12 +2035,6 @@ void CloudViewMainWindow::onViewAnglesChanged(float rotX, float rotY, float rotZ
 
 void CloudViewMainWindow::onPoint1CoordChanged()
 {
-    auto selectedPoints = m_glWidget->getSelectedPoints();
-    if (selectedPoints.isEmpty() || !selectedPoints[0].valid) {
-        QMessageBox::warning(this, "提示", "请先选择点1");
-        return;
-    }
-
     // 读取编辑框中的坐标
     bool ok = true;
     float x = m_editPoint1X->text().toFloat(&ok);
@@ -2049,17 +2055,16 @@ void CloudViewMainWindow::onPoint1CoordChanged()
         return;
     }
 
-    // 更新选中点的坐标
+    // 直接设置选中点坐标（无论是否已有鼠标选点）
-    m_glWidget->updateSelectedPointCoord(0, x, y, z);
+    m_glWidget->setSelectedPointCoord(0, x, y, z);
+    updateSelectedPointsDisplay();
 
     // 如果启用了测距且有两个点，重新计算距离
-    if (m_glWidget->isMeasureDistanceEnabled() && selectedPoints.size() >= 2 && selectedPoints[1].valid) {
+    auto updatedPoints = m_glWidget->getSelectedPoints();
-        auto updatedPoints = m_glWidget->getSelectedPoints();
+    if (m_glWidget->isMeasureDistanceEnabled() && updatedPoints.size() >= 2 && updatedPoints[1].valid) {
-        if (updatedPoints.size() >= 2) {
+        float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
-            float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
+        m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
-            m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
+        statusBar()->showMessage(QString("点1坐标已更新，距离: %1 mm").arg(distance, 0, 'f', 3));
-            statusBar()->showMessage(QString("点1坐标已更新，距离: %1 mm").arg(distance, 0, 'f', 3));
-        }
     } else {
         statusBar()->showMessage(QString("点1坐标已更新为 (%1, %2, %3)").arg(x, 0, 'f', 3).arg(y, 0, 'f', 3).arg(z, 0, 'f', 3));
     }
@@ -2069,12 +2074,6 @@ void CloudViewMainWindow::onPoint1CoordChanged()
 
 void CloudViewMainWindow::onPoint2CoordChanged()
 {
-    auto selectedPoints = m_glWidget->getSelectedPoints();
-    if (selectedPoints.size() < 2 || !selectedPoints[1].valid) {
-        QMessageBox::warning(this, "提示", "请先选择点2");
-        return;
-    }
-
     // 读取编辑框中的坐标
     bool ok = true;
     float x = m_editPoint2X->text().toFloat(&ok);
@@ -2095,17 +2094,16 @@ void CloudViewMainWindow::onPoint2CoordChanged()
         return;
     }
 
-    // 更新选中点的坐标
+    // 直接设置选中点坐标（无论是否已有鼠标选点）
-    m_glWidget->updateSelectedPointCoord(1, x, y, z);
+    m_glWidget->setSelectedPointCoord(1, x, y, z);
+    updateSelectedPointsDisplay();
 
     // 如果启用了测距，重新计算距离
-    if (m_glWidget->isMeasureDistanceEnabled()) {
+    auto updatedPoints = m_glWidget->getSelectedPoints();
-        auto updatedPoints = m_glWidget->getSelectedPoints();
+    if (m_glWidget->isMeasureDistanceEnabled() && updatedPoints.size() >= 2 && updatedPoints[0].valid) {
-        if (updatedPoints.size() >= 2) {
+        float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
-            float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
+        m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
-            m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
+        statusBar()->showMessage(QString("点2坐标已更新，距离: %1 mm").arg(distance, 0, 'f', 3));
-            statusBar()->showMessage(QString("点2坐标已更新，距离: %1 mm").arg(distance, 0, 'f', 3));
-        }
     } else {
         statusBar()->showMessage(QString("点2坐标已更新为 (%1, %2, %3)").arg(x, 0, 'f', 3).arg(y, 0, 'f', 3).arg(z, 0, 'f', 3));
     }