2115 lines
75 KiB
C++
2115 lines
75 KiB
C++
#include "CloudViewMainWindow.h"
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#include <QFileInfo>
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#include <QDialog>
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#include <QTextEdit>
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#include <QTableWidget>
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#include <QHeaderView>
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#include <QVector3D>
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#include <QFile>
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#include <QTextStream>
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#include <QRegExp>
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#include <QFrame>
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#include <QTabWidget>
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#include <QGridLayout>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonArray>
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#include <QEvent>
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#include <QResizeEvent>
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#include <cmath>
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#include "VrLog.h"
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#include "LaserDataLoader.h"
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CloudViewMainWindow::CloudViewMainWindow(QWidget* parent)
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: QMainWindow(parent)
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, m_glWidget(nullptr)
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, m_converter(std::make_unique<PointCloudConverter>())
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, m_cloudCount(0)
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, m_currentLineNum(0)
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, m_currentLinePtNum(0)
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, m_linePointsDialog(nullptr)
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, m_linePointsTable(nullptr)
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{
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setupUI();
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LOG_INFO("CloudViewMainWindow initialized\n");
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}
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CloudViewMainWindow::~CloudViewMainWindow()
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{
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}
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bool CloudViewMainWindow::eventFilter(QObject* obj, QEvent* event)
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{
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if (obj == m_glWidget && event->type() == QEvent::Resize) {
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auto* resizeEvt = static_cast<QResizeEvent*>(event);
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int w = resizeEvt->size().width();
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int h = resizeEvt->size().height();
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int btnW = m_btnZoomIn->width();
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int btnH = m_btnZoomIn->height();
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int margin = 8;
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int gap = 4;
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int x = w - btnW - margin;
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int y = (h - btnH * 2 - gap) / 2;
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m_btnZoomIn->move(x, y);
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m_btnZoomOut->move(x, y + btnH + gap);
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}
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return QMainWindow::eventFilter(obj, event);
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}
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void CloudViewMainWindow::setupUI()
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{
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// 创建中央控件
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QWidget* centralWidget = new QWidget(this);
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setCentralWidget(centralWidget);
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// 创建主布局
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QHBoxLayout* mainLayout = new QHBoxLayout(centralWidget);
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mainLayout->setContentsMargins(5, 5, 5, 5);
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mainLayout->setSpacing(5);
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// 创建分割器
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QSplitter* splitter = new QSplitter(Qt::Horizontal, centralWidget);
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// 左侧：视图工具栏 + 点云显示区域
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QWidget* viewerContainer = new QWidget(splitter);
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QHBoxLayout* viewerLayout = new QHBoxLayout(viewerContainer);
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viewerLayout->setContentsMargins(0, 0, 0, 0);
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viewerLayout->setSpacing(2);
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// 视图方向工具栏（纵向排列，在3D视图左侧）
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QWidget* viewToolbar = createViewToolbar();
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viewerLayout->addWidget(viewToolbar);
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// 点云显示区域
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QWidget* viewerArea = createViewerArea();
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viewerLayout->addWidget(viewerArea);
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splitter->addWidget(viewerContainer);
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// 右侧：控制面板
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QWidget* controlPanel = createControlPanel();
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splitter->addWidget(controlPanel);
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// 设置分割器初始大小（左侧 70%，右侧 30%）
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splitter->setSizes({700, 300});
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mainLayout->addWidget(splitter);
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// 状态栏
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statusBar()->showMessage("就绪");
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}
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QWidget* CloudViewMainWindow::createViewerArea()
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{
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QWidget* widget = new QWidget(this);
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QVBoxLayout* layout = new QVBoxLayout(widget);
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layout->setContentsMargins(0, 0, 0, 0);
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m_glWidget = new PointCloudGLWidget(widget);
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m_glWidget->setMinimumSize(400, 300);
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m_glWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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layout->addWidget(m_glWidget);
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// 悬浮缩放按钮（父控件为 m_glWidget，悬浮在右侧中间）
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int zoomBtnSize = 28;
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QString zoomBtnStyle =
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"QToolButton {"
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" background-color: rgba(50, 50, 50, 180);"
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" color: white;"
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" border: 1px solid rgba(120, 120, 120, 150);"
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" border-radius: 4px;"
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" font-size: 32px;"
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" font-weight: bold;"
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"}"
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"QToolButton:hover {"
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" background-color: rgba(80, 80, 80, 220);"
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"}"
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"QToolButton:pressed {"
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" background-color: rgba(30, 30, 30, 240);"
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"}";
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m_btnZoomIn = new QToolButton(m_glWidget);
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m_btnZoomIn->setText("+");
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m_btnZoomIn->setFixedSize(zoomBtnSize, zoomBtnSize);
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m_btnZoomIn->setStyleSheet(zoomBtnStyle);
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m_btnZoomIn->setAutoRepeat(true);
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m_btnZoomIn->setAutoRepeatDelay(300);
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m_btnZoomIn->setAutoRepeatInterval(50);
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connect(m_btnZoomIn, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomIn);
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m_btnZoomOut = new QToolButton(m_glWidget);
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m_btnZoomOut->setText("-");
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m_btnZoomOut->setFixedSize(zoomBtnSize, zoomBtnSize);
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m_btnZoomOut->setStyleSheet(zoomBtnStyle);
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m_btnZoomOut->setAutoRepeat(true);
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m_btnZoomOut->setAutoRepeatDelay(300);
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m_btnZoomOut->setAutoRepeatInterval(50);
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connect(m_btnZoomOut, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomOut);
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// 安装事件过滤器，在 GL 控件 resize 时更新按钮位置
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m_glWidget->installEventFilter(this);
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// 连接信号
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connect(m_glWidget, &PointCloudGLWidget::pointSelected,
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this, &CloudViewMainWindow::onPointSelected);
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connect(m_glWidget, &PointCloudGLWidget::twoPointsSelected,
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this, &CloudViewMainWindow::onTwoPointsSelected);
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connect(m_glWidget, &PointCloudGLWidget::lineSelected,
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this, &CloudViewMainWindow::onLineSelected);
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connect(m_glWidget, &PointCloudGLWidget::viewAnglesChanged,
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this, &CloudViewMainWindow::onViewAnglesChanged);
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return widget;
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}
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QWidget* CloudViewMainWindow::createControlPanel()
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{
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QWidget* widget = new QWidget(this);
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widget->setMaximumWidth(350);
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QVBoxLayout* layout = new QVBoxLayout(widget);
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layout->setContentsMargins(5, 5, 5, 5);
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layout->setSpacing(5);
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// 文件操作组
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layout->addWidget(createFileGroup());
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// 创建 Tab 控件
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QTabWidget* tabWidget = new QTabWidget(widget);
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tabWidget->addTab(createMeasurePage(), "选点测距");
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tabWidget->addTab(createLinePage(), "选线");
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tabWidget->addTab(createTransformPage(), "矩阵变换");
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layout->addWidget(tabWidget);
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// 点云列表组
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layout->addWidget(createCloudListGroup());
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// 添加弹性空间
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layout->addStretch();
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return widget;
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}
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QGroupBox* CloudViewMainWindow::createFileGroup()
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{
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QGroupBox* group = new QGroupBox("文件操作", this);
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group->setMaximumWidth(350);
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QVBoxLayout* layout = new QVBoxLayout(group);
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layout->setSpacing(3);
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layout->setContentsMargins(5, 5, 5, 5);
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m_btnOpenFile = new QPushButton("打开文件", group);
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m_btnOpenFile->setMinimumHeight(24);
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m_btnOpenFile->setMaximumHeight(24);
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connect(m_btnOpenFile, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenFile);
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layout->addWidget(m_btnOpenFile);
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m_btnOpenPose = new QPushButton("打开姿态点 {x,y,z}-{r,p,y}", group);
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m_btnOpenPose->setMinimumHeight(24);
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m_btnOpenPose->setMaximumHeight(24);
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connect(m_btnOpenPose, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenPoseFile);
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layout->addWidget(m_btnOpenPose);
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m_btnOpenBBox = new QPushButton("加载包围盒 (grasp.json)", group);
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m_btnOpenBBox->setMinimumHeight(24);
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m_btnOpenBBox->setMaximumHeight(24);
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connect(m_btnOpenBBox, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenBBoxFile);
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layout->addWidget(m_btnOpenBBox);
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m_btnClearAll = new QPushButton("清除所有", group);
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m_btnClearAll->setMinimumHeight(24);
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m_btnClearAll->setMaximumHeight(24);
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connect(m_btnClearAll, &QPushButton::clicked, this, &CloudViewMainWindow::onClearAll);
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layout->addWidget(m_btnClearAll);
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return group;
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}
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QWidget* CloudViewMainWindow::createViewToolbar()
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{
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QWidget* widget = new QWidget(this);
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QVBoxLayout* layout = new QVBoxLayout(widget);
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layout->setContentsMargins(2, 2, 2, 2);
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layout->setSpacing(3);
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// 视图预设：图标、提示、旋转角度
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struct ViewPreset {
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const char* iconPath;
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const char* tooltip;
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float rotX;
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float rotY;
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float rotZ;
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};
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// 坐标系定义：X向右，Y向下，Z朝后
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ViewPreset presets[] = {
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{":/common/resource/view_front.png", "正视 (XY面)", 180.0f, 0.0f, 0.0f},
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{":/common/resource/view_back.png", "后视", 180.0f, 180.0f, 0.0f},
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{":/common/resource/view_left.png", "左视 (YZ面)", 180.0f, 90.0f, 0.0f},
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{":/common/resource/view_right.png", "右视", 180.0f, -90.0f, 0.0f},
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{":/common/resource/view_top.png", "俯视 (XZ面)", 90.0f, 0.0f, 0.0f},
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{":/common/resource/view_bottom.png", "仰视", -90.0f, 0.0f, 0.0f},
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};
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int btnSize = 32;
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int iconSize = 24;
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for (const auto& preset : presets) {
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QToolButton* btn = new QToolButton(widget);
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btn->setIcon(QIcon(preset.iconPath));
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btn->setIconSize(QSize(iconSize, iconSize));
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btn->setFixedSize(btnSize, btnSize);
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btn->setToolTip(preset.tooltip);
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btn->setAutoRaise(true);
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float rx = preset.rotX;
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float ry = preset.rotY;
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float rz = preset.rotZ;
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connect(btn, &QToolButton::clicked, this, [this, rx, ry, rz]() {
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m_glWidget->setViewAngles(rx, ry, rz);
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m_editRotX->setText(QString::number(rx, 'f', 1));
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m_editRotY->setText(QString::number(ry, 'f', 1));
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m_editRotZ->setText(QString::number(rz, 'f', 1));
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});
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layout->addWidget(btn);
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}
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layout->addStretch();
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// 旋转角度输入（纵向紧凑布局）
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m_editRotX = new QLineEdit("180.0", widget);
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m_editRotY = new QLineEdit("0.0", widget);
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m_editRotZ = new QLineEdit("0.0", widget);
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auto makeAngleRow = [&](const QString& label, QLineEdit* edit) {
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QWidget* row = new QWidget(widget);
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QVBoxLayout* rowLayout = new QVBoxLayout(row);
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rowLayout->setContentsMargins(0, 0, 0, 0);
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rowLayout->setSpacing(0);
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QLabel* lbl = new QLabel(label, row);
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lbl->setStyleSheet("font-size: 10px; color: gray;");
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rowLayout->addWidget(lbl);
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edit->setFixedWidth(btnSize);
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edit->setMaximumHeight(20);
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edit->setStyleSheet("font-size: 10px;");
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rowLayout->addWidget(edit);
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return row;
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};
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layout->addWidget(makeAngleRow("RX", m_editRotX));
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layout->addWidget(makeAngleRow("RY", m_editRotY));
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layout->addWidget(makeAngleRow("RZ", m_editRotZ));
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// 应用按钮
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QPushButton* btnApply = new QPushButton("GO", widget);
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btnApply->setFixedSize(btnSize, 20);
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btnApply->setStyleSheet("font-size: 10px;");
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auto applyAngles = [this]() {
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bool okX, okY, okZ;
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float rotX = m_editRotX->text().toFloat(&okX);
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float rotY = m_editRotY->text().toFloat(&okY);
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float rotZ = m_editRotZ->text().toFloat(&okZ);
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if (okX && okY && okZ) {
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m_glWidget->setViewAngles(rotX, rotY, rotZ);
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}
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};
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connect(btnApply, &QPushButton::clicked, this, applyAngles);
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connect(m_editRotX, &QLineEdit::returnPressed, this, applyAngles);
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connect(m_editRotY, &QLineEdit::returnPressed, this, applyAngles);
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connect(m_editRotZ, &QLineEdit::returnPressed, this, applyAngles);
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layout->addWidget(btnApply);
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widget->setFixedWidth(btnSize + 8);
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return widget;
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}
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QWidget* CloudViewMainWindow::createMeasurePage()
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{
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QWidget* page = new QWidget(this);
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QVBoxLayout* layout = new QVBoxLayout(page);
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layout->setContentsMargins(0, 5, 0, 0);
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layout->addWidget(createMeasureGroup());
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layout->addStretch();
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return page;
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}
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QWidget* CloudViewMainWindow::createLinePage()
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{
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QWidget* page = new QWidget(this);
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QVBoxLayout* layout = new QVBoxLayout(page);
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layout->setContentsMargins(0, 5, 0, 0);
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// 选线拟合组
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layout->addWidget(createLineGroup());
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// 输入线段组
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QGroupBox* inputLineGroup = new QGroupBox("输入线段", page);
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QVBoxLayout* inputLayout = new QVBoxLayout(inputLineGroup);
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// 提示
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QLabel* lblTip = new QLabel("输入两点坐标显示线段", inputLineGroup);
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lblTip->setStyleSheet("color: gray; font-size: 10px;");
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inputLayout->addWidget(lblTip);
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// 点1坐标
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QLabel* lblPoint1 = new QLabel("点1:", inputLineGroup);
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lblPoint1->setStyleSheet("font-weight: bold;");
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inputLayout->addWidget(lblPoint1);
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QHBoxLayout* p1Layout = new QHBoxLayout();
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p1Layout->addWidget(new QLabel("X:", inputLineGroup));
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m_editLineX1 = new QLineEdit("0.0", inputLineGroup);
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m_editLineX1->setMaximumWidth(70);
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p1Layout->addWidget(m_editLineX1);
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p1Layout->addWidget(new QLabel("Y:", inputLineGroup));
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m_editLineY1 = new QLineEdit("0.0", inputLineGroup);
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m_editLineY1->setMaximumWidth(70);
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p1Layout->addWidget(m_editLineY1);
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p1Layout->addWidget(new QLabel("Z:", inputLineGroup));
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m_editLineZ1 = new QLineEdit("0.0", inputLineGroup);
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m_editLineZ1->setMaximumWidth(70);
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p1Layout->addWidget(m_editLineZ1);
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inputLayout->addLayout(p1Layout);
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// 点2坐标
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QLabel* lblPoint2 = new QLabel("点2:", inputLineGroup);
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lblPoint2->setStyleSheet("font-weight: bold;");
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inputLayout->addWidget(lblPoint2);
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QHBoxLayout* p2Layout = new QHBoxLayout();
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p2Layout->addWidget(new QLabel("X:", inputLineGroup));
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m_editLineX2 = new QLineEdit("100.0", inputLineGroup);
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m_editLineX2->setMaximumWidth(70);
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p2Layout->addWidget(m_editLineX2);
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p2Layout->addWidget(new QLabel("Y:", inputLineGroup));
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m_editLineY2 = new QLineEdit("100.0", inputLineGroup);
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m_editLineY2->setMaximumWidth(70);
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p2Layout->addWidget(m_editLineY2);
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p2Layout->addWidget(new QLabel("Z:", inputLineGroup));
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m_editLineZ2 = new QLineEdit("100.0", inputLineGroup);
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m_editLineZ2->setMaximumWidth(70);
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p2Layout->addWidget(m_editLineZ2);
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inputLayout->addLayout(p2Layout);
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// 按钮
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QHBoxLayout* btnLayout = new QHBoxLayout();
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m_btnShowLine = new QPushButton("显示线段", inputLineGroup);
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connect(m_btnShowLine, &QPushButton::clicked, this, &CloudViewMainWindow::onShowInputLine);
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btnLayout->addWidget(m_btnShowLine);
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m_btnClearLine2 = new QPushButton("清除线段", inputLineGroup);
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connect(m_btnClearLine2, &QPushButton::clicked, this, &CloudViewMainWindow::onClearInputLine);
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btnLayout->addWidget(m_btnClearLine2);
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inputLayout->addLayout(btnLayout);
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// 连接输入线段坐标框的回车信号
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connect(m_editLineX1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
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connect(m_editLineY1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
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connect(m_editLineZ1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
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connect(m_editLineX2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
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connect(m_editLineY2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
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connect(m_editLineZ2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
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layout->addWidget(inputLineGroup);
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layout->addStretch();
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return page;
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}
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QGroupBox* CloudViewMainWindow::createMeasureGroup()
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{
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QGroupBox* group = new QGroupBox("选点测距", this);
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group->setMaximumWidth(350);
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QVBoxLayout* layout = new QVBoxLayout(group);
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layout->setSpacing(4);
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layout->setContentsMargins(5, 5, 5, 5);
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// 操作说明
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QLabel* lblTip = new QLabel("Ctrl+左键点击点云选择点", group);
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lblTip->setWordWrap(true);
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lblTip->setStyleSheet("color: gray; font-size: 12px;");
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layout->addWidget(lblTip);
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// 测距复选框
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m_cbMeasureDistance = new QCheckBox("启用测距", group);
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m_cbMeasureDistance->setChecked(false);
|
||
connect(m_cbMeasureDistance, &QCheckBox::toggled, this, [this](bool checked) {
|
||
m_glWidget->setMeasureDistanceEnabled(checked);
|
||
m_glWidget->clearSelectedPoints();
|
||
m_lblPoint1->setText("点1: --");
|
||
m_lblPoint2->setText("点2: --");
|
||
m_lblDistance->setText("--");
|
||
m_editPoint1X->setText("--");
|
||
m_editPoint1Y->setText("--");
|
||
m_editPoint1Z->setText("--");
|
||
m_editPoint2X->setText("--");
|
||
m_editPoint2Y->setText("--");
|
||
m_editPoint2Z->setText("--");
|
||
});
|
||
layout->addWidget(m_cbMeasureDistance);
|
||
|
||
// 清除选点按钮
|
||
m_btnClearPoints = new QPushButton("清除选点", group);
|
||
m_btnClearPoints->setMinimumHeight(24);
|
||
connect(m_btnClearPoints, &QPushButton::clicked, this, &CloudViewMainWindow::onClearSelectedPoints);
|
||
layout->addWidget(m_btnClearPoints);
|
||
|
||
// 分隔线
|
||
QFrame* line1 = new QFrame(group);
|
||
line1->setFrameShape(QFrame::HLine);
|
||
line1->setFrameShadow(QFrame::Sunken);
|
||
layout->addWidget(line1);
|
||
|
||
// 点1信息（坐标直接显示在标题后）
|
||
m_lblPoint1 = new QLabel("点1: --", group);
|
||
m_lblPoint1->setWordWrap(true);
|
||
m_lblPoint1->setStyleSheet("font-weight: bold; font-size: 11px;");
|
||
layout->addWidget(m_lblPoint1);
|
||
|
||
// 点1坐标编辑（可修改）
|
||
QHBoxLayout* coord1Layout = new QHBoxLayout();
|
||
coord1Layout->setSpacing(5);
|
||
coord1Layout->addWidget(new QLabel("X:", group));
|
||
m_editPoint1X = new QLineEdit("--", group);
|
||
m_editPoint1X->setMaximumWidth(70);
|
||
m_editPoint1X->setMaximumHeight(24);
|
||
coord1Layout->addWidget(m_editPoint1X);
|
||
|
||
coord1Layout->addWidget(new QLabel("Y:", group));
|
||
m_editPoint1Y = new QLineEdit("--", group);
|
||
m_editPoint1Y->setMaximumWidth(70);
|
||
m_editPoint1Y->setMaximumHeight(24);
|
||
coord1Layout->addWidget(m_editPoint1Y);
|
||
|
||
coord1Layout->addWidget(new QLabel("Z:", group));
|
||
m_editPoint1Z = new QLineEdit("--", group);
|
||
m_editPoint1Z->setMaximumWidth(70);
|
||
m_editPoint1Z->setMaximumHeight(24);
|
||
coord1Layout->addWidget(m_editPoint1Z);
|
||
coord1Layout->addStretch();
|
||
layout->addLayout(coord1Layout);
|
||
|
||
// 连接回车信号
|
||
connect(m_editPoint1X, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint1CoordChanged);
|
||
connect(m_editPoint1Y, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint1CoordChanged);
|
||
connect(m_editPoint1Z, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint1CoordChanged);
|
||
|
||
// 点1姿态输入（紧凑布局）
|
||
QHBoxLayout* pose1Layout = new QHBoxLayout();
|
||
pose1Layout->setSpacing(5);
|
||
pose1Layout->addWidget(new QLabel("RX:", group));
|
||
m_editRx1 = new QLineEdit("0.0", group);
|
||
m_editRx1->setMaximumWidth(50);
|
||
pose1Layout->addWidget(m_editRx1);
|
||
|
||
pose1Layout->addWidget(new QLabel("RY:", group));
|
||
m_editRy1 = new QLineEdit("0.0", group);
|
||
m_editRy1->setMaximumWidth(50);
|
||
pose1Layout->addWidget(m_editRy1);
|
||
|
||
pose1Layout->addWidget(new QLabel("RZ:", group));
|
||
m_editRz1 = new QLineEdit("0.0", group);
|
||
m_editRz1->setMaximumWidth(50);
|
||
pose1Layout->addWidget(m_editRz1);
|
||
pose1Layout->addStretch();
|
||
layout->addLayout(pose1Layout);
|
||
|
||
m_btnShowPose1 = new QPushButton("显示点1姿态", group);
|
||
m_btnShowPose1->setMinimumHeight(24);
|
||
connect(m_btnShowPose1, &QPushButton::clicked, this, &CloudViewMainWindow::onShowPose1);
|
||
layout->addWidget(m_btnShowPose1);
|
||
|
||
// 连接姿态输入框的回车信号
|
||
connect(m_editRx1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose1);
|
||
connect(m_editRy1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose1);
|
||
connect(m_editRz1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose1);
|
||
|
||
// 分隔线
|
||
QFrame* line2 = new QFrame(group);
|
||
line2->setFrameShape(QFrame::HLine);
|
||
line2->setFrameShadow(QFrame::Sunken);
|
||
layout->addWidget(line2);
|
||
|
||
// 点2信息（坐标直接显示在标题后）
|
||
m_lblPoint2 = new QLabel("点2: --", group);
|
||
m_lblPoint2->setWordWrap(true);
|
||
m_lblPoint2->setStyleSheet("font-weight: bold; font-size: 11px;");
|
||
layout->addWidget(m_lblPoint2);
|
||
|
||
// 点2坐标编辑（可修改）
|
||
QHBoxLayout* coord2Layout = new QHBoxLayout();
|
||
coord2Layout->setSpacing(5);
|
||
coord2Layout->addWidget(new QLabel("X:", group));
|
||
m_editPoint2X = new QLineEdit("--", group);
|
||
m_editPoint2X->setMaximumWidth(70);
|
||
m_editPoint2X->setMaximumHeight(24);
|
||
coord2Layout->addWidget(m_editPoint2X);
|
||
|
||
coord2Layout->addWidget(new QLabel("Y:", group));
|
||
m_editPoint2Y = new QLineEdit("--", group);
|
||
m_editPoint2Y->setMaximumWidth(70);
|
||
m_editPoint2Y->setMaximumHeight(24);
|
||
coord2Layout->addWidget(m_editPoint2Y);
|
||
|
||
coord2Layout->addWidget(new QLabel("Z:", group));
|
||
m_editPoint2Z = new QLineEdit("--", group);
|
||
m_editPoint2Z->setMaximumWidth(70);
|
||
m_editPoint2Z->setMaximumHeight(24);
|
||
coord2Layout->addWidget(m_editPoint2Z);
|
||
coord2Layout->addStretch();
|
||
layout->addLayout(coord2Layout);
|
||
|
||
// 连接回车信号
|
||
connect(m_editPoint2X, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint2CoordChanged);
|
||
connect(m_editPoint2Y, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint2CoordChanged);
|
||
connect(m_editPoint2Z, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint2CoordChanged);
|
||
|
||
// 点2姿态输入（紧凑布局）
|
||
QHBoxLayout* pose2Layout = new QHBoxLayout();
|
||
pose2Layout->setSpacing(5);
|
||
pose2Layout->addWidget(new QLabel("RX:", group));
|
||
m_editRx2 = new QLineEdit("0.0", group);
|
||
m_editRx2->setMaximumWidth(50);
|
||
pose2Layout->addWidget(m_editRx2);
|
||
|
||
pose2Layout->addWidget(new QLabel("RY:", group));
|
||
m_editRy2 = new QLineEdit("0.0", group);
|
||
m_editRy2->setMaximumWidth(50);
|
||
pose2Layout->addWidget(m_editRy2);
|
||
|
||
pose2Layout->addWidget(new QLabel("RZ:", group));
|
||
m_editRz2 = new QLineEdit("0.0", group);
|
||
m_editRz2->setMaximumWidth(50);
|
||
pose2Layout->addWidget(m_editRz2);
|
||
pose2Layout->addStretch();
|
||
layout->addLayout(pose2Layout);
|
||
|
||
m_btnShowPose2 = new QPushButton("显示点2姿态", group);
|
||
m_btnShowPose2->setMinimumHeight(24);
|
||
connect(m_btnShowPose2, &QPushButton::clicked, this, &CloudViewMainWindow::onShowPose2);
|
||
layout->addWidget(m_btnShowPose2);
|
||
|
||
// 连接姿态输入框的回车信号
|
||
connect(m_editRx2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
|
||
connect(m_editRy2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
|
||
connect(m_editRz2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
|
||
|
||
// 分隔线
|
||
QFrame* line3 = new QFrame(group);
|
||
line3->setFrameShape(QFrame::HLine);
|
||
line3->setFrameShadow(QFrame::Sunken);
|
||
layout->addWidget(line3);
|
||
|
||
// 欧拉角旋转顺序选择
|
||
QLabel* lblEulerOrder = new QLabel("欧拉角旋转顺序:", group);
|
||
lblEulerOrder->setStyleSheet("font-weight: bold; font-size: 10px;");
|
||
layout->addWidget(lblEulerOrder);
|
||
|
||
m_comboEulerOrder = new QComboBox(group);
|
||
m_comboEulerOrder->addItem("ZYX (Yaw-Pitch-Roll)", static_cast<int>(EulerRotationOrder::ZYX));
|
||
m_comboEulerOrder->addItem("XYZ (Roll-Pitch-Yaw)", static_cast<int>(EulerRotationOrder::XYZ));
|
||
m_comboEulerOrder->addItem("ZXY (Yaw-Roll-Pitch)", static_cast<int>(EulerRotationOrder::ZXY));
|
||
m_comboEulerOrder->addItem("YXZ (Pitch-Roll-Yaw)", static_cast<int>(EulerRotationOrder::YXZ));
|
||
m_comboEulerOrder->addItem("XZY (Roll-Yaw-Pitch)", static_cast<int>(EulerRotationOrder::XZY));
|
||
m_comboEulerOrder->addItem("YZX (Pitch-Yaw-Roll)", static_cast<int>(EulerRotationOrder::YZX));
|
||
m_comboEulerOrder->setCurrentIndex(0);
|
||
m_comboEulerOrder->setMaximumHeight(24);
|
||
connect(m_comboEulerOrder, QOverload<int>::of(&QComboBox::currentIndexChanged),
|
||
this, &CloudViewMainWindow::onEulerOrderChanged);
|
||
layout->addWidget(m_comboEulerOrder);
|
||
|
||
// 分隔线
|
||
QFrame* line4 = new QFrame(group);
|
||
line4->setFrameShape(QFrame::HLine);
|
||
line4->setFrameShadow(QFrame::Sunken);
|
||
layout->addWidget(line4);
|
||
|
||
// 距离信息
|
||
QHBoxLayout* distLayout = new QHBoxLayout();
|
||
QLabel* lblDistTitle = new QLabel("距离:", group);
|
||
lblDistTitle->setStyleSheet("font-size: 10px;");
|
||
m_lblDistance = new QLabel("--", group);
|
||
m_lblDistance->setStyleSheet("font-weight: bold; color: green; font-size: 10px;");
|
||
distLayout->addWidget(lblDistTitle);
|
||
distLayout->addWidget(m_lblDistance, 1);
|
||
layout->addLayout(distLayout);
|
||
|
||
return group;
|
||
}
|
||
|
||
QGroupBox* CloudViewMainWindow::createLineGroup()
|
||
{
|
||
QGroupBox* group = new QGroupBox("选线", this);
|
||
group->setMaximumWidth(400);
|
||
QVBoxLayout* layout = new QVBoxLayout(group);
|
||
layout->setSpacing(3);
|
||
layout->setContentsMargins(5, 5, 5, 5);
|
||
|
||
// 操作说明
|
||
QLabel* lblTip = new QLabel("Shift+左键点击点云选择线", group);
|
||
lblTip->setWordWrap(true);
|
||
lblTip->setStyleSheet("color: gray; font-size: 9px;");
|
||
layout->addWidget(lblTip);
|
||
|
||
// 选线模式选择
|
||
QHBoxLayout* modeLayout = new QHBoxLayout();
|
||
modeLayout->setSpacing(5);
|
||
m_rbVertical = new QRadioButton("纵向", group);
|
||
m_rbHorizontal = new QRadioButton("横向", group);
|
||
m_rbVertical->setChecked(true);
|
||
connect(m_rbVertical, &QRadioButton::toggled, this, &CloudViewMainWindow::onLineSelectModeChanged);
|
||
modeLayout->addWidget(m_rbVertical);
|
||
modeLayout->addWidget(m_rbHorizontal);
|
||
modeLayout->addStretch();
|
||
layout->addLayout(modeLayout);
|
||
|
||
// 输入索引选择
|
||
QHBoxLayout* inputLayout = new QHBoxLayout();
|
||
inputLayout->setSpacing(5);
|
||
m_lineNumberInput = new QLineEdit(group);
|
||
m_lineNumberInput->setPlaceholderText("输入索引");
|
||
m_lineNumberInput->setMaximumHeight(24);
|
||
m_btnSelectByNumber = new QPushButton("选择", group);
|
||
m_btnSelectByNumber->setMaximumHeight(24);
|
||
m_btnSelectByNumber->setMaximumWidth(50);
|
||
connect(m_btnSelectByNumber, &QPushButton::clicked, this, &CloudViewMainWindow::onSelectLineByNumber);
|
||
connect(m_lineNumberInput, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onSelectLineByNumber);
|
||
inputLayout->addWidget(m_lineNumberInput, 1);
|
||
inputLayout->addWidget(m_btnSelectByNumber);
|
||
layout->addLayout(inputLayout);
|
||
|
||
// 清除选线按钮
|
||
m_btnClearLine = new QPushButton("清除选线", group);
|
||
m_btnClearLine->setMinimumHeight(24);
|
||
connect(m_btnClearLine, &QPushButton::clicked, this, &CloudViewMainWindow::onClearLinePoints);
|
||
layout->addWidget(m_btnClearLine);
|
||
|
||
// 显示线上点按钮
|
||
m_btnShowLinePoints = new QPushButton("显示线上点", group);
|
||
m_btnShowLinePoints->setMinimumHeight(24);
|
||
connect(m_btnShowLinePoints, &QPushButton::clicked, this, &CloudViewMainWindow::onShowLinePoints);
|
||
layout->addWidget(m_btnShowLinePoints);
|
||
|
||
// 线索引信息
|
||
QHBoxLayout* indexLayout = new QHBoxLayout();
|
||
QLabel* lblIndexTitle = new QLabel("索引:", group);
|
||
lblIndexTitle->setStyleSheet("font-size: 10px;");
|
||
m_lblLineIndex = new QLabel("--", group);
|
||
m_lblLineIndex->setStyleSheet("font-size: 10px;");
|
||
indexLayout->addWidget(lblIndexTitle);
|
||
indexLayout->addWidget(m_lblLineIndex, 1);
|
||
layout->addLayout(indexLayout);
|
||
|
||
// 点数信息
|
||
QHBoxLayout* countLayout = new QHBoxLayout();
|
||
QLabel* lblCountTitle = new QLabel("点数:", group);
|
||
lblCountTitle->setStyleSheet("font-size: 10px;");
|
||
m_lblLinePointCount = new QLabel("--", group);
|
||
m_lblLinePointCount->setStyleSheet("font-size: 10px;");
|
||
countLayout->addWidget(lblCountTitle);
|
||
countLayout->addWidget(m_lblLinePointCount, 1);
|
||
layout->addLayout(countLayout);
|
||
|
||
return group;
|
||
}
|
||
|
||
QGroupBox* CloudViewMainWindow::createCloudListGroup()
|
||
{
|
||
QGroupBox* group = new QGroupBox("点云列表", this);
|
||
group->setMaximumWidth(350);
|
||
QVBoxLayout* layout = new QVBoxLayout(group);
|
||
layout->setSpacing(3);
|
||
layout->setContentsMargins(5, 5, 5, 5);
|
||
|
||
m_cloudList = new QListWidget(group);
|
||
m_cloudList->setMinimumHeight(70);
|
||
layout->addWidget(m_cloudList);
|
||
|
||
return group;
|
||
}
|
||
|
||
void CloudViewMainWindow::onOpenFile()
|
||
{
|
||
// 如果已有打开的文件，提示是否清除
|
||
if (m_cloudList->count() > 0) {
|
||
auto ret = QMessageBox::question(this, "提示",
|
||
"当前已有打开的文件，是否清除？",
|
||
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
|
||
if (ret == QMessageBox::Cancel) {
|
||
return;
|
||
}
|
||
if (ret == QMessageBox::Yes) {
|
||
onClearAll();
|
||
}
|
||
}
|
||
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this,
|
||
"打开文件",
|
||
QString(),
|
||
"所有支持格式 (*.pcd *.txt);;PCD 文件 (*.pcd);;TXT 文件 (*.txt);;所有文件 (*.*)"
|
||
);
|
||
|
||
if (fileName.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
// 同一文件中可能同时包含点云和线段，两者都尝试加载
|
||
bool cloudOk = loadPointCloudFile(fileName);
|
||
bool segmentOk = loadSegmentFile(fileName);
|
||
|
||
if (!cloudOk && !segmentOk) {
|
||
QMessageBox::critical(this, "错误", "无法从文件中加载点云或线段数据");
|
||
statusBar()->showMessage("加载失败");
|
||
}
|
||
}
|
||
|
||
bool CloudViewMainWindow::loadPointCloudFile(const QString& fileName)
|
||
{
|
||
statusBar()->showMessage("正在加载点云...");
|
||
|
||
QFileInfo fileInfo(fileName);
|
||
QString ext = fileInfo.suffix().toLower();
|
||
QString cloudName = QString("Cloud_%1 (%2)").arg(++m_cloudCount).arg(fileInfo.fileName());
|
||
|
||
// 统一使用 PointCloudXYZRGB 加载，支持带颜色和不带颜色的文件
|
||
PointCloudXYZRGB rgbCloud;
|
||
int result = m_converter->loadFromFile(fileName.toStdString(), rgbCloud);
|
||
|
||
if (result != 0) {
|
||
LOG_INFO("[CloudView] Load point cloud failed: %s\n", m_converter->getLastError().c_str());
|
||
return false;
|
||
}
|
||
|
||
// 保存原始完整点云 XYZ（用于旋转/线上点等功能）
|
||
m_originalCloud.clear();
|
||
m_originalCloud.reserve(rgbCloud.size());
|
||
for (size_t i = 0; i < rgbCloud.points.size(); ++i) {
|
||
const auto& pt = rgbCloud.points[i];
|
||
Point3D xyzPt(pt.x, pt.y, pt.z);
|
||
int lineIdx = (i < rgbCloud.lineIndices.size()) ? rgbCloud.lineIndices[i] : 0;
|
||
m_originalCloud.push_back(xyzPt, lineIdx);
|
||
}
|
||
|
||
// 根据是否有颜色选择显示方式
|
||
bool hadColor = m_converter->lastLoadHadColor();
|
||
|
||
if (ext == "pcd") {
|
||
// PCD 文件始终走 XYZRGB 路径，避免被颜色轮换表染成蓝色等
|
||
if (!hadColor) {
|
||
// 无 rgb 字段：默认灰色显示
|
||
for (size_t i = 0; i < rgbCloud.points.size(); ++i) {
|
||
rgbCloud.points[i].r = 192;
|
||
rgbCloud.points[i].g = 192;
|
||
rgbCloud.points[i].b = 192;
|
||
}
|
||
}
|
||
m_glWidget->addPointCloud(rgbCloud, cloudName);
|
||
LOG_INFO("[CloudView] PCD loaded with XYZRGB path (hasRgbField=%d), points: %zu\n",
|
||
m_converter->lastLoadHadColor(), rgbCloud.size());
|
||
} else if (hadColor) {
|
||
m_glWidget->addPointCloud(rgbCloud, cloudName);
|
||
LOG_INFO("[CloudView] Loaded with original color, points: %zu\n", rgbCloud.size());
|
||
} else {
|
||
m_glWidget->addPointCloud(m_originalCloud, cloudName);
|
||
LOG_INFO("[CloudView] Loaded without color (color table), points: %zu\n", m_originalCloud.size());
|
||
}
|
||
|
||
// 保存线信息（用于旋转功能）
|
||
int lineCount = m_converter->getLoadedLineCount();
|
||
if (lineCount > 0) {
|
||
m_currentLineNum = lineCount;
|
||
m_currentLinePtNum = static_cast<int>(m_converter->getLoadedPointCount()) / lineCount;
|
||
} else {
|
||
m_currentLineNum = 0;
|
||
m_currentLinePtNum = 0;
|
||
}
|
||
|
||
// 添加到列表
|
||
QString itemText;
|
||
if (lineCount > 0) {
|
||
itemText = QString("%1 - %2 点, %3 线").arg(cloudName).arg(m_converter->getLoadedPointCount()).arg(lineCount);
|
||
} else {
|
||
itemText = QString("%1 - %2 点").arg(cloudName).arg(m_converter->getLoadedPointCount());
|
||
}
|
||
if (hadColor) {
|
||
itemText += " [彩色]";
|
||
}
|
||
m_cloudList->addItem(itemText);
|
||
|
||
statusBar()->showMessage(QString("已加载 %1 个点%2").arg(m_converter->getLoadedPointCount()).arg(hadColor ? " (彩色)" : ""));
|
||
return true;
|
||
}
|
||
|
||
bool CloudViewMainWindow::loadSegmentFile(const QString& fileName)
|
||
{
|
||
statusBar()->showMessage("正在加载线段...");
|
||
|
||
LaserDataLoader loader;
|
||
std::vector<std::vector<SVzNLPointXYZRGBA>> polyLines;
|
||
int result = loader.LoadPolySegments(fileName.toStdString(), polyLines);
|
||
|
||
if (result != 0) {
|
||
LOG_INFO("[CloudView] Load segments failed: %s\n", loader.GetLastError().c_str());
|
||
return false;
|
||
}
|
||
|
||
if (polyLines.empty()) {
|
||
return false;
|
||
}
|
||
|
||
// 将折线点转换为线段（使用点自带的颜色）
|
||
QVector<LineSegment> segments;
|
||
for (const auto& polyLine : polyLines) {
|
||
for (size_t i = 0; i + 1 < polyLine.size(); ++i) {
|
||
const auto& p1 = polyLine[i];
|
||
const auto& p2 = polyLine[i + 1];
|
||
// 取起点颜色作为线段颜色，nRGB 为 (A<<24)|BGR 打包格式
|
||
float r = ((p1.nRGB >> 0) & 0xFF) / 255.0f;
|
||
float g = ((p1.nRGB >> 8) & 0xFF) / 255.0f;
|
||
float b = ((p1.nRGB >> 16) & 0xFF) / 255.0f;
|
||
uint8_t a = static_cast<uint8_t>((p1.nRGB >> 24) & 0xFF);
|
||
// A > 1 时作为线宽使用
|
||
float lineWidth = (a > 1) ? static_cast<float>(a) : 0.0f;
|
||
segments.append(LineSegment(
|
||
p1.x, p1.y, p1.z,
|
||
p2.x, p2.y, p2.z,
|
||
r, g, b, lineWidth));
|
||
}
|
||
}
|
||
|
||
if (segments.isEmpty()) {
|
||
return false;
|
||
}
|
||
|
||
m_glWidget->addLineSegments(segments);
|
||
|
||
// 添加到列表
|
||
QFileInfo fileInfo(fileName);
|
||
int totalPolyCount = static_cast<int>(polyLines.size());
|
||
QString itemName = QString("Segments (%1)").arg(fileInfo.fileName());
|
||
m_cloudList->addItem(QString("%1 - %2 条折线, %3 条线段")
|
||
.arg(itemName).arg(totalPolyCount).arg(segments.size()));
|
||
|
||
statusBar()->showMessage(QString("已加载 %1 条折线, %2 条线段").arg(totalPolyCount).arg(segments.size()));
|
||
LOG_INFO("[CloudView] Loaded %d polylines, %d segments from %s\n",
|
||
totalPolyCount, segments.size(), fileName.toStdString().c_str());
|
||
return true;
|
||
}
|
||
|
||
void CloudViewMainWindow::onOpenPoseFile()
|
||
{
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this,
|
||
"打开姿态点文件",
|
||
QString(),
|
||
"文本文件 (*.txt);;所有文件 (*.*)"
|
||
);
|
||
|
||
if (fileName.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
statusBar()->showMessage("正在加载姿态点...");
|
||
|
||
QFile file(fileName);
|
||
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||
QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
|
||
statusBar()->showMessage("加载失败");
|
||
return;
|
||
}
|
||
|
||
QVector<PosePoint> poses;
|
||
QTextStream in(&file);
|
||
int lineNum = 0;
|
||
int validCount = 0;
|
||
|
||
while (!in.atEnd()) {
|
||
QString line = in.readLine().trimmed();
|
||
lineNum++;
|
||
|
||
// 跳过空行和注释
|
||
if (line.isEmpty() || line.startsWith('#')) {
|
||
continue;
|
||
}
|
||
|
||
// 解析格式：{x,y,z}-{r,p,y}
|
||
QRegExp regex("\\{([^}]+)\\}-\\{([^}]+)\\}");
|
||
if (regex.indexIn(line) == -1) {
|
||
LOG_WARN("[CloudView] Line %d: Invalid format, expected {x,y,z}-{r,p,y}\n", lineNum);
|
||
continue;
|
||
}
|
||
|
||
QString posStr = regex.cap(1);
|
||
QString rotStr = regex.cap(2);
|
||
|
||
QStringList pos = posStr.split(',');
|
||
QStringList rot = rotStr.split(',');
|
||
|
||
if (pos.size() != 3 || rot.size() != 3) {
|
||
LOG_WARN("[CloudView] Line %d: Invalid point format\n", lineNum);
|
||
continue;
|
||
}
|
||
|
||
bool ok = true;
|
||
float x = pos[0].toFloat(&ok); if (!ok) continue;
|
||
float y = pos[1].toFloat(&ok); if (!ok) continue;
|
||
float z = pos[2].toFloat(&ok); if (!ok) continue;
|
||
float roll = rot[0].toFloat(&ok); if (!ok) continue;
|
||
float pitch = rot[1].toFloat(&ok); if (!ok) continue;
|
||
float yaw = rot[2].toFloat(&ok); if (!ok) continue;
|
||
|
||
// 固定大小为10
|
||
float scale = 10.0f;
|
||
|
||
poses.append(PosePoint(x, y, z, roll, pitch, yaw, scale));
|
||
validCount++;
|
||
}
|
||
|
||
file.close();
|
||
|
||
if (poses.isEmpty()) {
|
||
QMessageBox::warning(this, "警告", "文件中没有有效的姿态点数据");
|
||
statusBar()->showMessage("加载失败");
|
||
return;
|
||
}
|
||
|
||
m_glWidget->addPosePoints(poses);
|
||
statusBar()->showMessage(QString("已加载 %1 个姿态点").arg(validCount));
|
||
LOG_INFO("[CloudView] Loaded %d pose points from %s\n", validCount, fileName.toStdString().c_str());
|
||
}
|
||
|
||
void CloudViewMainWindow::onOpenBBoxFile()
|
||
{
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this,
|
||
"打开包围盒文件",
|
||
QString(),
|
||
"JSON 文件 (*.json);;所有文件 (*.*)"
|
||
);
|
||
|
||
if (fileName.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
if (!loadBoundingBoxFile(fileName)) {
|
||
QMessageBox::critical(this, "错误", "无法加载包围盒数据");
|
||
statusBar()->showMessage("加载失败");
|
||
}
|
||
}
|
||
|
||
bool CloudViewMainWindow::loadBoundingBoxFile(const QString& fileName)
|
||
{
|
||
QFile file(fileName);
|
||
if (!file.open(QIODevice::ReadOnly)) {
|
||
LOG_INFO("[CloudView] Cannot open bbox file: %s\n", fileName.toStdString().c_str());
|
||
return false;
|
||
}
|
||
|
||
QByteArray data = file.readAll();
|
||
file.close();
|
||
|
||
QJsonParseError parseError;
|
||
QJsonDocument doc = QJsonDocument::fromJson(data, &parseError);
|
||
if (doc.isNull()) {
|
||
LOG_INFO("[CloudView] JSON parse error: %s\n", parseError.errorString().toStdString().c_str());
|
||
return false;
|
||
}
|
||
|
||
QJsonObject root = doc.object();
|
||
QJsonArray records = root["records"].toArray();
|
||
if (records.isEmpty()) {
|
||
LOG_INFO("[CloudView] No records in bbox file\n");
|
||
return false;
|
||
}
|
||
|
||
// 包围盒8个顶点的12条边索引
|
||
// 底面: 0-1, 1-2, 2-3, 3-0
|
||
// 顶面: 4-5, 5-6, 6-7, 7-4
|
||
// 立柱: 0-4, 1-5, 2-6, 3-7
|
||
static const int edgeIndices[][2] = {
|
||
{0, 1}, {1, 2}, {2, 3}, {3, 0}, // 底面
|
||
{4, 5}, {5, 6}, {6, 7}, {7, 4}, // 顶面
|
||
{0, 4}, {1, 5}, {2, 6}, {3, 7} // 立柱
|
||
};
|
||
|
||
QVector<LineSegment> segments;
|
||
QVector<PosePoint> graspPoses;
|
||
int bboxCount = 0;
|
||
|
||
// 为每个 record 使用不同的颜色
|
||
const float colors[][3] = {
|
||
{0.0f, 1.0f, 0.0f}, // 绿色
|
||
{1.0f, 1.0f, 0.0f}, // 黄色
|
||
{0.0f, 1.0f, 1.0f}, // 青色
|
||
{1.0f, 0.5f, 0.0f}, // 橙色
|
||
{1.0f, 0.0f, 1.0f}, // 紫色
|
||
{0.5f, 1.0f, 0.5f}, // 浅绿
|
||
};
|
||
const int colorCount = sizeof(colors) / sizeof(colors[0]);
|
||
|
||
for (int i = 0; i < records.size(); ++i) {
|
||
QJsonObject record = records[i].toObject();
|
||
QJsonObject bbox = record["bounding_box"].toObject();
|
||
QJsonArray vertices = bbox["vertices"].toArray();
|
||
|
||
if (vertices.size() != 8) {
|
||
LOG_WARN("[CloudView] Record %d: vertices count != 8, skip\n", i);
|
||
continue;
|
||
}
|
||
|
||
// 解析8个顶点
|
||
float vx[8], vy[8], vz[8];
|
||
for (int j = 0; j < 8; ++j) {
|
||
QJsonObject v = vertices[j].toObject();
|
||
vx[j] = static_cast<float>(v["x"].toDouble());
|
||
vy[j] = static_cast<float>(v["y"].toDouble());
|
||
vz[j] = static_cast<float>(v["z"].toDouble());
|
||
}
|
||
|
||
// 选择颜色
|
||
float r = colors[i % colorCount][0];
|
||
float g = colors[i % colorCount][1];
|
||
float b = colors[i % colorCount][2];
|
||
|
||
// 生成12条边的线段
|
||
for (const auto& edge : edgeIndices) {
|
||
int a = edge[0];
|
||
int b_idx = edge[1];
|
||
segments.append(LineSegment(
|
||
vx[a], vy[a], vz[a],
|
||
vx[b_idx], vy[b_idx], vz[b_idx],
|
||
r, g, b, 2.0f));
|
||
}
|
||
|
||
bboxCount++;
|
||
|
||
// 解析抓取点（右抓取点）
|
||
if (record.contains("has_right_point") && record["has_right_point"].toBool()) {
|
||
QJsonObject graspPt = record["right_grasp_point"].toObject();
|
||
QJsonObject pos = graspPt["position"].toObject();
|
||
QJsonObject ori = graspPt["orientation"].toObject();
|
||
|
||
float px = static_cast<float>(pos["x"].toDouble());
|
||
float py = static_cast<float>(pos["y"].toDouble());
|
||
float pz = static_cast<float>(pos["z"].toDouble());
|
||
float roll = static_cast<float>(ori["roll"].toDouble());
|
||
float pitch = static_cast<float>(ori["pitch"].toDouble());
|
||
float yaw = static_cast<float>(ori["yaw"].toDouble());
|
||
|
||
graspPoses.append(PosePoint(px, py, pz, roll, pitch, yaw, 15.0f));
|
||
}
|
||
|
||
// 解析左抓取点
|
||
if (record.contains("has_left_point") && record["has_left_point"].toBool()) {
|
||
QJsonObject graspPt = record["left_grasp_point"].toObject();
|
||
QJsonObject pos = graspPt["position"].toObject();
|
||
QJsonObject ori = graspPt["orientation"].toObject();
|
||
|
||
float px = static_cast<float>(pos["x"].toDouble());
|
||
float py = static_cast<float>(pos["y"].toDouble());
|
||
float pz = static_cast<float>(pos["z"].toDouble());
|
||
float roll = static_cast<float>(ori["roll"].toDouble());
|
||
float pitch = static_cast<float>(ori["pitch"].toDouble());
|
||
float yaw = static_cast<float>(ori["yaw"].toDouble());
|
||
|
||
graspPoses.append(PosePoint(px, py, pz, roll, pitch, yaw, 15.0f));
|
||
}
|
||
}
|
||
|
||
if (segments.isEmpty()) {
|
||
return false;
|
||
}
|
||
|
||
m_glWidget->addLineSegments(segments);
|
||
|
||
if (!graspPoses.isEmpty()) {
|
||
m_glWidget->addPosePoints(graspPoses);
|
||
}
|
||
|
||
// 添加到列表
|
||
QFileInfo fileInfo(fileName);
|
||
QString itemName = QString("BBox (%1)").arg(fileInfo.fileName());
|
||
QString itemText = QString("%1 - %2 个包围盒, %3 条边")
|
||
.arg(itemName).arg(bboxCount).arg(segments.size());
|
||
if (!graspPoses.isEmpty()) {
|
||
itemText += QString(", %1 个抓取点").arg(graspPoses.size());
|
||
}
|
||
m_cloudList->addItem(itemText);
|
||
|
||
statusBar()->showMessage(QString("已加载 %1 个包围盒").arg(bboxCount));
|
||
LOG_INFO("[CloudView] Loaded %d bounding boxes, %d grasp points from %s\n",
|
||
bboxCount, graspPoses.size(), fileName.toStdString().c_str());
|
||
return true;
|
||
}
|
||
|
||
void CloudViewMainWindow::onClearAll()
|
||
{
|
||
m_glWidget->clearPointClouds();
|
||
m_glWidget->clearLineSegments();
|
||
m_glWidget->clearPosePoints();
|
||
m_cloudList->clear();
|
||
m_cloudCount = 0;
|
||
m_currentLineNum = 0;
|
||
m_currentLinePtNum = 0;
|
||
m_originalCloud.clear();
|
||
|
||
// 清除选点信息
|
||
m_lblPoint1->setText("点1: --");
|
||
m_lblPoint2->setText("点2: --");
|
||
m_lblDistance->setText("--");
|
||
m_editPoint1X->setText("--");
|
||
m_editPoint1Y->setText("--");
|
||
m_editPoint1Z->setText("--");
|
||
m_editPoint2X->setText("--");
|
||
m_editPoint2Y->setText("--");
|
||
m_editPoint2Z->setText("--");
|
||
|
||
// 清除选线信息
|
||
m_lblLineIndex->setText("--");
|
||
m_lblLinePointCount->setText("--");
|
||
|
||
statusBar()->showMessage("已清除所有数据");
|
||
}
|
||
|
||
void CloudViewMainWindow::onResetView()
|
||
{
|
||
m_glWidget->resetView();
|
||
statusBar()->showMessage("视图已重置");
|
||
}
|
||
|
||
void CloudViewMainWindow::onClearSelectedPoints()
|
||
{
|
||
m_glWidget->clearSelectedPoints();
|
||
m_glWidget->clearPosePoints(); // 清除选点时也清除姿态
|
||
m_lblPoint1->setText("点1: --");
|
||
m_lblPoint2->setText("点2: --");
|
||
m_lblDistance->setText("--");
|
||
m_editPoint1X->setText("--");
|
||
m_editPoint1Y->setText("--");
|
||
m_editPoint1Z->setText("--");
|
||
m_editPoint2X->setText("--");
|
||
m_editPoint2Y->setText("--");
|
||
m_editPoint2Z->setText("--");
|
||
statusBar()->showMessage("已清除选中的点");
|
||
}
|
||
|
||
void CloudViewMainWindow::onPointSelected(const SelectedPointInfo& point)
|
||
{
|
||
if (!point.valid) {
|
||
return;
|
||
}
|
||
|
||
// 选择新点时清除之前的姿态显示
|
||
m_glWidget->clearPosePoints();
|
||
|
||
updateSelectedPointsDisplay();
|
||
|
||
// 状态栏显示：坐标、线号、索引号
|
||
QString statusMsg = QString("选中点: (%1, %2, %3)")
|
||
.arg(point.x, 0, 'f', 3)
|
||
.arg(point.y, 0, 'f', 3)
|
||
.arg(point.z, 0, 'f', 3);
|
||
if (point.lineIndex >= 0) {
|
||
statusMsg += QString(" | 线号: %1").arg(point.lineIndex);
|
||
if (point.pointIndexInLine >= 0) {
|
||
statusMsg += QString(" | 索引号: %1").arg(point.pointIndexInLine);
|
||
}
|
||
}
|
||
statusBar()->showMessage(statusMsg);
|
||
}
|
||
|
||
void CloudViewMainWindow::onTwoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance)
|
||
{
|
||
updateSelectedPointsDisplay();
|
||
m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
|
||
statusBar()->showMessage(QString("测量距离: %1 mm").arg(distance, 0, 'f', 3));
|
||
}
|
||
|
||
void CloudViewMainWindow::updateSelectedPointsDisplay()
|
||
{
|
||
auto selectedPoints = m_glWidget->getSelectedPoints();
|
||
|
||
if (selectedPoints.size() >= 1 && selectedPoints[0].valid) {
|
||
QString text;
|
||
if (selectedPoints[0].lineIndex >= 0) {
|
||
text = QString("点1: 线号:%1 点序:%2")
|
||
.arg(selectedPoints[0].lineIndex)
|
||
.arg(selectedPoints[0].pointIndexInLine);
|
||
} else {
|
||
text = QString("点1:");
|
||
}
|
||
m_lblPoint1->setText(text);
|
||
|
||
// 更新坐标编辑框
|
||
m_editPoint1X->setText(QString::number(selectedPoints[0].x, 'f', 3));
|
||
m_editPoint1Y->setText(QString::number(selectedPoints[0].y, 'f', 3));
|
||
m_editPoint1Z->setText(QString::number(selectedPoints[0].z, 'f', 3));
|
||
} else {
|
||
m_lblPoint1->setText("点1: --");
|
||
m_editPoint1X->setText("--");
|
||
m_editPoint1Y->setText("--");
|
||
m_editPoint1Z->setText("--");
|
||
}
|
||
|
||
if (selectedPoints.size() >= 2 && selectedPoints[1].valid) {
|
||
QString text;
|
||
if (selectedPoints[1].lineIndex >= 0) {
|
||
text = QString("点2: 线号:%1 点序:%2")
|
||
.arg(selectedPoints[1].lineIndex)
|
||
.arg(selectedPoints[1].pointIndexInLine);
|
||
} else {
|
||
text = QString("点2:");
|
||
}
|
||
m_lblPoint2->setText(text);
|
||
|
||
// 更新坐标编辑框
|
||
m_editPoint2X->setText(QString::number(selectedPoints[1].x, 'f', 3));
|
||
m_editPoint2Y->setText(QString::number(selectedPoints[1].y, 'f', 3));
|
||
m_editPoint2Z->setText(QString::number(selectedPoints[1].z, 'f', 3));
|
||
} else {
|
||
m_lblPoint2->setText("点2: --");
|
||
m_editPoint2X->setText("--");
|
||
m_editPoint2Y->setText("--");
|
||
m_editPoint2Z->setText("--");
|
||
}
|
||
}
|
||
|
||
void CloudViewMainWindow::onLineSelectModeChanged(bool checked)
|
||
{
|
||
if (checked) {
|
||
// 纵向模式
|
||
m_glWidget->setLineSelectMode(LineSelectMode::Vertical);
|
||
} else {
|
||
// 横向模式
|
||
m_glWidget->setLineSelectMode(LineSelectMode::Horizontal);
|
||
}
|
||
m_lineNumberInput->setPlaceholderText("输入索引");
|
||
}
|
||
|
||
void CloudViewMainWindow::onClearLinePoints()
|
||
{
|
||
m_glWidget->clearSelectedLine();
|
||
m_glWidget->clearListHighlightPoint(); // 清除列表选中的高亮点
|
||
m_lblLineIndex->setText("--");
|
||
m_lblLinePointCount->setText("--");
|
||
statusBar()->showMessage("已清除选线");
|
||
}
|
||
|
||
void CloudViewMainWindow::onLineSelected(const SelectedLineInfo& line)
|
||
{
|
||
// 重新选线时清除列表高亮点
|
||
m_glWidget->clearListHighlightPoint();
|
||
|
||
if (!line.valid) {
|
||
m_lblLineIndex->setText("--");
|
||
m_lblLinePointCount->setText("--");
|
||
return;
|
||
}
|
||
|
||
// 状态栏显示：线号/索引号、线点数
|
||
if (line.mode == LineSelectMode::Vertical) {
|
||
m_lblLineIndex->setText(QString::number(line.lineIndex));
|
||
statusBar()->showMessage(QString("选中线 | 线号: %1 | 线点数: %2")
|
||
.arg(line.lineIndex)
|
||
.arg(line.pointCount));
|
||
} else {
|
||
// 横向选线：显示索引号
|
||
m_lblLineIndex->setText(QString::number(line.pointIndex));
|
||
statusBar()->showMessage(QString("选中横向线 | 索引号: %1 | 线点数: %2")
|
||
.arg(line.pointIndex)
|
||
.arg(line.pointCount));
|
||
}
|
||
m_lblLinePointCount->setText(QString::number(line.pointCount));
|
||
|
||
// 如果线上点对话框已打开，刷新内容
|
||
updateLinePointsDialog();
|
||
}
|
||
|
||
void CloudViewMainWindow::onSelectLineByNumber()
|
||
{
|
||
if (m_glWidget->getCloudCount() == 0) {
|
||
QMessageBox::warning(this, "提示", "请先加载点云");
|
||
return;
|
||
}
|
||
|
||
QString text = m_lineNumberInput->text().trimmed();
|
||
if (text.isEmpty()) {
|
||
QMessageBox::warning(this, "提示", "请输入索引");
|
||
return;
|
||
}
|
||
|
||
bool ok;
|
||
int index = text.toInt(&ok);
|
||
if (!ok || index < 0) {
|
||
QMessageBox::warning(this, "提示", "请输入有效的索引（非负整数）");
|
||
return;
|
||
}
|
||
|
||
bool success = false;
|
||
if (m_rbVertical->isChecked()) {
|
||
// 纵向选线：直接使用索引
|
||
success = m_glWidget->selectLineByIndex(index);
|
||
if (!success) {
|
||
QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index));
|
||
}
|
||
} else {
|
||
// 横向选线：直接使用索引
|
||
success = m_glWidget->selectHorizontalLineByIndex(index);
|
||
if (!success) {
|
||
QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index));
|
||
}
|
||
}
|
||
}
|
||
|
||
QVector<QVector3D> CloudViewMainWindow::getOriginalLinePoints(const SelectedLineInfo& lineInfo)
|
||
{
|
||
QVector<QVector3D> points;
|
||
|
||
if (!lineInfo.valid || m_originalCloud.empty()) {
|
||
return points;
|
||
}
|
||
|
||
if (lineInfo.mode == LineSelectMode::Vertical) {
|
||
// 纵向选线：获取同一条扫描线上的所有点
|
||
for (size_t i = 0; i < m_originalCloud.points.size(); ++i) {
|
||
if (i < m_originalCloud.lineIndices.size() &&
|
||
m_originalCloud.lineIndices[i] == lineInfo.lineIndex) {
|
||
const auto& pt = m_originalCloud.points[i];
|
||
points.append(QVector3D(pt.x, pt.y, pt.z));
|
||
}
|
||
}
|
||
} else {
|
||
// 横向选线：获取所有线的相同索引点
|
||
if (m_currentLinePtNum > 0 && lineInfo.pointIndex >= 0) {
|
||
for (size_t i = 0; i < m_originalCloud.points.size(); ++i) {
|
||
int originalIdx = static_cast<int>(i);
|
||
if (originalIdx % m_currentLinePtNum == lineInfo.pointIndex) {
|
||
const auto& pt = m_originalCloud.points[i];
|
||
points.append(QVector3D(pt.x, pt.y, pt.z));
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
return points;
|
||
}
|
||
|
||
void CloudViewMainWindow::updateLinePointsDialog()
|
||
{
|
||
if (!m_linePointsDialog || !m_linePointsTable) {
|
||
return;
|
||
}
|
||
|
||
SelectedLineInfo lineInfo = m_glWidget->getSelectedLine();
|
||
if (!lineInfo.valid) {
|
||
m_linePointsTable->setRowCount(0);
|
||
m_linePointsDialog->setWindowTitle("线上点坐标");
|
||
m_currentLinePoints.clear();
|
||
return;
|
||
}
|
||
|
||
// 从原始数据获取线上点（包含0,0,0）
|
||
m_currentLinePoints = getOriginalLinePoints(lineInfo);
|
||
|
||
// 更新标题
|
||
QString title;
|
||
if (lineInfo.mode == LineSelectMode::Vertical) {
|
||
title = QString("线上点坐标 - 线号: %1 (共 %2 个点)")
|
||
.arg(lineInfo.lineIndex)
|
||
.arg(m_currentLinePoints.size());
|
||
} else {
|
||
title = QString("线上点坐标 - 索引号: %1 (共 %2 个点)")
|
||
.arg(lineInfo.pointIndex)
|
||
.arg(m_currentLinePoints.size());
|
||
}
|
||
m_linePointsDialog->setWindowTitle(title);
|
||
|
||
// 更新表格
|
||
m_linePointsTable->setRowCount(m_currentLinePoints.size());
|
||
|
||
// 斑马线颜色
|
||
QColor evenColor(245, 245, 245); // 浅灰色
|
||
QColor oddColor(255, 255, 255); // 白色
|
||
|
||
for (int i = 0; i < m_currentLinePoints.size(); ++i) {
|
||
const QVector3D& pt = m_currentLinePoints[i];
|
||
QColor rowColor = (i % 2 == 0) ? evenColor : oddColor;
|
||
|
||
// 序号
|
||
QTableWidgetItem* indexItem = new QTableWidgetItem(QString::number(i));
|
||
indexItem->setTextAlignment(Qt::AlignCenter);
|
||
indexItem->setBackground(rowColor);
|
||
indexItem->setFlags(indexItem->flags() & ~Qt::ItemIsEditable);
|
||
m_linePointsTable->setItem(i, 0, indexItem);
|
||
|
||
// X
|
||
QTableWidgetItem* xItem = new QTableWidgetItem(QString::number(pt.x(), 'f', 3));
|
||
xItem->setTextAlignment(Qt::AlignCenter);
|
||
xItem->setBackground(rowColor);
|
||
xItem->setFlags(xItem->flags() & ~Qt::ItemIsEditable);
|
||
m_linePointsTable->setItem(i, 1, xItem);
|
||
|
||
// Y
|
||
QTableWidgetItem* yItem = new QTableWidgetItem(QString::number(pt.y(), 'f', 3));
|
||
yItem->setTextAlignment(Qt::AlignCenter);
|
||
yItem->setBackground(rowColor);
|
||
yItem->setFlags(yItem->flags() & ~Qt::ItemIsEditable);
|
||
m_linePointsTable->setItem(i, 2, yItem);
|
||
|
||
// Z
|
||
QTableWidgetItem* zItem = new QTableWidgetItem(QString::number(pt.z(), 'f', 3));
|
||
zItem->setTextAlignment(Qt::AlignCenter);
|
||
zItem->setBackground(rowColor);
|
||
zItem->setFlags(zItem->flags() & ~Qt::ItemIsEditable);
|
||
m_linePointsTable->setItem(i, 3, zItem);
|
||
}
|
||
}
|
||
|
||
void CloudViewMainWindow::onShowLinePoints()
|
||
{
|
||
SelectedLineInfo lineInfo = m_glWidget->getSelectedLine();
|
||
if (!lineInfo.valid) {
|
||
QMessageBox::warning(this, "提示", "请先选择一条线");
|
||
return;
|
||
}
|
||
|
||
// 如果对话框已存在，刷新内容并显示
|
||
if (m_linePointsDialog) {
|
||
updateLinePointsDialog();
|
||
m_linePointsDialog->raise();
|
||
m_linePointsDialog->activateWindow();
|
||
return;
|
||
}
|
||
|
||
// 创建对话框
|
||
m_linePointsDialog = new QDialog(this);
|
||
m_linePointsDialog->resize(450, 500);
|
||
m_linePointsDialog->setAttribute(Qt::WA_DeleteOnClose);
|
||
|
||
// 对话框关闭时清理指针
|
||
connect(m_linePointsDialog, &QDialog::destroyed, this, [this]() {
|
||
m_linePointsDialog = nullptr;
|
||
m_linePointsTable = nullptr;
|
||
m_currentLinePoints.clear();
|
||
m_glWidget->clearListHighlightPoint();
|
||
});
|
||
|
||
QVBoxLayout* layout = new QVBoxLayout(m_linePointsDialog);
|
||
|
||
// 提示标签
|
||
QLabel* lblTip = new QLabel("点击行在3D视图中高亮显示", m_linePointsDialog);
|
||
lblTip->setStyleSheet("color: gray; font-size: 10px;");
|
||
layout->addWidget(lblTip);
|
||
|
||
// 创建表格控件
|
||
m_linePointsTable = new QTableWidget(m_linePointsDialog);
|
||
m_linePointsTable->setColumnCount(4);
|
||
m_linePointsTable->setHorizontalHeaderLabels({"序号", "X", "Y", "Z"});
|
||
m_linePointsTable->setFont(QFont("Consolas", 9));
|
||
m_linePointsTable->setSelectionBehavior(QAbstractItemView::SelectRows);
|
||
m_linePointsTable->setSelectionMode(QAbstractItemView::SingleSelection);
|
||
m_linePointsTable->verticalHeader()->setVisible(false);
|
||
|
||
// 设置列宽
|
||
m_linePointsTable->setColumnWidth(0, 60); // 序号
|
||
m_linePointsTable->setColumnWidth(1, 110); // X
|
||
m_linePointsTable->setColumnWidth(2, 110); // Y
|
||
m_linePointsTable->setColumnWidth(3, 110); // Z
|
||
|
||
// 表头样式
|
||
m_linePointsTable->horizontalHeader()->setStretchLastSection(true);
|
||
m_linePointsTable->horizontalHeader()->setDefaultAlignment(Qt::AlignCenter);
|
||
|
||
connect(m_linePointsTable, &QTableWidget::cellClicked,
|
||
this, &CloudViewMainWindow::onLinePointTableClicked);
|
||
layout->addWidget(m_linePointsTable);
|
||
|
||
// 关闭按钮
|
||
QPushButton* btnClose = new QPushButton("关闭", m_linePointsDialog);
|
||
connect(btnClose, &QPushButton::clicked, m_linePointsDialog, &QDialog::close);
|
||
layout->addWidget(btnClose);
|
||
|
||
// 填充数据
|
||
updateLinePointsDialog();
|
||
|
||
m_linePointsDialog->show();
|
||
}
|
||
|
||
void CloudViewMainWindow::onLinePointTableClicked(int row, int column)
|
||
{
|
||
Q_UNUSED(column);
|
||
|
||
if (row >= 0 && row < m_currentLinePoints.size()) {
|
||
const QVector3D& pt = m_currentLinePoints[row];
|
||
m_glWidget->setListHighlightPoint(pt);
|
||
|
||
// 在状态栏显示选中点信息
|
||
statusBar()->showMessage(QString("列表选中点 %1: (%2, %3, %4)")
|
||
.arg(row)
|
||
.arg(pt.x(), 0, 'f', 3)
|
||
.arg(pt.y(), 0, 'f', 3)
|
||
.arg(pt.z(), 0, 'f', 3));
|
||
}
|
||
}
|
||
|
||
void CloudViewMainWindow::onShowPose1()
|
||
{
|
||
// 从输入框读取点1坐标
|
||
bool ok = true;
|
||
float x1 = m_editPoint1X->text().toFloat(&ok);
|
||
if (!ok) { QMessageBox::warning(this, "错误", "点1 X 值无效"); return; }
|
||
float y1 = m_editPoint1Y->text().toFloat(&ok);
|
||
if (!ok) { QMessageBox::warning(this, "错误", "点1 Y 值无效"); return; }
|
||
float z1 = m_editPoint1Z->text().toFloat(&ok);
|
||
if (!ok) { QMessageBox::warning(this, "错误", "点1 Z 值无效"); return; }
|
||
|
||
// 设置选中点（不存在则创建）
|
||
m_glWidget->setSelectedPointCoord(0, x1, y1, z1);
|
||
|
||
// 读取姿态参数
|
||
float rx = m_editRx1->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 RX 值无效");
|
||
return;
|
||
}
|
||
|
||
float ry = m_editRy1->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 RY 值无效");
|
||
return;
|
||
}
|
||
|
||
float rz = m_editRz1->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 RZ 值无效");
|
||
return;
|
||
}
|
||
|
||
// 固定大小为10
|
||
float scale = 10.0f;
|
||
|
||
// 清除之前的姿态点
|
||
m_glWidget->clearPosePoints();
|
||
|
||
// 创建点1的姿态点
|
||
PosePoint pose1(x1, y1, z1, rx, ry, rz, scale);
|
||
QVector<PosePoint> poses;
|
||
poses.append(pose1);
|
||
|
||
// 如果点2输入框有值，也一起显示
|
||
bool ok2 = true;
|
||
float x2 = m_editPoint2X->text().toFloat(&ok2);
|
||
float y2 = ok2 ? m_editPoint2Y->text().toFloat(&ok2) : 0;
|
||
float z2 = ok2 ? m_editPoint2Z->text().toFloat(&ok2) : 0;
|
||
if (ok2 && !(x2 == 0 && y2 == 0 && z2 == 0 && m_editPoint2X->text().isEmpty())) {
|
||
m_glWidget->setSelectedPointCoord(1, x2, y2, z2);
|
||
|
||
bool okR = true;
|
||
float rx2 = m_editRx2->text().toFloat(&okR);
|
||
float ry2 = okR ? m_editRy2->text().toFloat(&okR) : 0;
|
||
float rz2 = okR ? m_editRz2->text().toFloat(&okR) : 0;
|
||
if (okR) {
|
||
PosePoint pose2(x2, y2, z2, rx2, ry2, rz2, scale);
|
||
poses.append(pose2);
|
||
}
|
||
}
|
||
|
||
// 添加到显示
|
||
m_glWidget->addPosePoints(poses);
|
||
|
||
statusBar()->showMessage(QString("已显示点1姿态 (%1, %2, %3) 旋转(%4°, %5°, %6°)")
|
||
.arg(x1, 0, 'f', 3).arg(y1, 0, 'f', 3).arg(z1, 0, 'f', 3)
|
||
.arg(rx, 0, 'f', 1).arg(ry, 0, 'f', 1).arg(rz, 0, 'f', 1));
|
||
|
||
LOG_INFO("[CloudView] Show pose1 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n",
|
||
x1, y1, z1, rx, ry, rz);
|
||
}
|
||
|
||
void CloudViewMainWindow::onShowPose2()
|
||
{
|
||
// 从输入框读取点2坐标
|
||
bool ok = true;
|
||
float x2 = m_editPoint2X->text().toFloat(&ok);
|
||
if (!ok) { QMessageBox::warning(this, "错误", "点2 X 值无效"); return; }
|
||
float y2 = m_editPoint2Y->text().toFloat(&ok);
|
||
if (!ok) { QMessageBox::warning(this, "错误", "点2 Y 值无效"); return; }
|
||
float z2 = m_editPoint2Z->text().toFloat(&ok);
|
||
if (!ok) { QMessageBox::warning(this, "错误", "点2 Z 值无效"); return; }
|
||
|
||
// 设置选中点（不存在则创建）
|
||
m_glWidget->setSelectedPointCoord(1, x2, y2, z2);
|
||
|
||
// 读取姿态参数
|
||
float rx = m_editRx2->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 RX 值无效");
|
||
return;
|
||
}
|
||
|
||
float ry = m_editRy2->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 RY 值无效");
|
||
return;
|
||
}
|
||
|
||
float rz = m_editRz2->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 RZ 值无效");
|
||
return;
|
||
}
|
||
|
||
// 固定大小为10
|
||
float scale = 10.0f;
|
||
|
||
// 清除之前的姿态点
|
||
m_glWidget->clearPosePoints();
|
||
|
||
QVector<PosePoint> poses;
|
||
|
||
// 如果点1输入框有值，也一起显示
|
||
bool ok1 = true;
|
||
float x1 = m_editPoint1X->text().toFloat(&ok1);
|
||
float y1 = ok1 ? m_editPoint1Y->text().toFloat(&ok1) : 0;
|
||
float z1 = ok1 ? m_editPoint1Z->text().toFloat(&ok1) : 0;
|
||
if (ok1 && !(x1 == 0 && y1 == 0 && z1 == 0 && m_editPoint1X->text().isEmpty())) {
|
||
m_glWidget->setSelectedPointCoord(0, x1, y1, z1);
|
||
|
||
bool okR = true;
|
||
float rx1 = m_editRx1->text().toFloat(&okR);
|
||
float ry1 = okR ? m_editRy1->text().toFloat(&okR) : 0;
|
||
float rz1 = okR ? m_editRz1->text().toFloat(&okR) : 0;
|
||
if (okR) {
|
||
PosePoint pose1(x1, y1, z1, rx1, ry1, rz1, scale);
|
||
poses.append(pose1);
|
||
}
|
||
}
|
||
|
||
// 创建点2的姿态点
|
||
PosePoint pose2(x2, y2, z2, rx, ry, rz, scale);
|
||
poses.append(pose2);
|
||
|
||
// 添加到显示
|
||
m_glWidget->addPosePoints(poses);
|
||
|
||
statusBar()->showMessage(QString("已显示点2姿态 (%1, %2, %3) 旋转(%4°, %5°, %6°)")
|
||
.arg(x2, 0, 'f', 3).arg(y2, 0, 'f', 3).arg(z2, 0, 'f', 3)
|
||
.arg(rx, 0, 'f', 1).arg(ry, 0, 'f', 1).arg(rz, 0, 'f', 1));
|
||
|
||
LOG_INFO("[CloudView] Show pose2 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n",
|
||
x2, y2, z2, rx, ry, rz);
|
||
}
|
||
|
||
void CloudViewMainWindow::onShowInputLine()
|
||
{
|
||
// 读取点1坐标
|
||
bool ok = true;
|
||
float x1 = m_editLineX1->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 X 值无效");
|
||
return;
|
||
}
|
||
|
||
float y1 = m_editLineY1->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 Y 值无效");
|
||
return;
|
||
}
|
||
|
||
float z1 = m_editLineZ1->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 Z 值无效");
|
||
return;
|
||
}
|
||
|
||
// 读取点2坐标
|
||
float x2 = m_editLineX2->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 X 值无效");
|
||
return;
|
||
}
|
||
|
||
float y2 = m_editLineY2->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 Y 值无效");
|
||
return;
|
||
}
|
||
|
||
float z2 = m_editLineZ2->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 Z 值无效");
|
||
return;
|
||
}
|
||
|
||
// 清除之前的线段
|
||
m_glWidget->clearLineSegments();
|
||
|
||
// 创建线段（红色）
|
||
LineSegment segment(x1, y1, z1, x2, y2, z2, 1.0f, 0.0f, 0.0f);
|
||
QVector<LineSegment> segments;
|
||
segments.append(segment);
|
||
|
||
// 添加到显示
|
||
m_glWidget->addLineSegments(segments);
|
||
|
||
// 计算距离
|
||
float dx = x2 - x1;
|
||
float dy = y2 - y1;
|
||
float dz = z2 - z1;
|
||
float distance = std::sqrt(dx * dx + dy * dy + dz * dz);
|
||
|
||
statusBar()->showMessage(QString("已显示线段 (%1,%2,%3) → (%4,%5,%6) 长度: %7")
|
||
.arg(x1, 0, 'f', 1).arg(y1, 0, 'f', 1).arg(z1, 0, 'f', 1)
|
||
.arg(x2, 0, 'f', 1).arg(y2, 0, 'f', 1).arg(z2, 0, 'f', 1)
|
||
.arg(distance, 0, 'f', 3));
|
||
|
||
LOG_INFO("[CloudView] Show input line from (%.3f, %.3f, %.3f) to (%.3f, %.3f, %.3f) length=%.3f\n",
|
||
x1, y1, z1, x2, y2, z2, distance);
|
||
}
|
||
|
||
void CloudViewMainWindow::onClearInputLine()
|
||
{
|
||
m_glWidget->clearLineSegments();
|
||
statusBar()->showMessage("已清除输入的线段");
|
||
}
|
||
|
||
QWidget* CloudViewMainWindow::createTransformPage()
|
||
{
|
||
QWidget* page = new QWidget(this);
|
||
QVBoxLayout* layout = new QVBoxLayout(page);
|
||
layout->setContentsMargins(0, 5, 0, 0);
|
||
|
||
QGroupBox* group = new QGroupBox("矩阵变换", page);
|
||
group->setMaximumWidth(400);
|
||
QVBoxLayout* groupLayout = new QVBoxLayout(group);
|
||
|
||
// 操作说明
|
||
QLabel* lblTip = new QLabel("输入或从文件加载 4x4 变换矩阵，应用到所有点云", group);
|
||
lblTip->setWordWrap(true);
|
||
lblTip->setStyleSheet("color: gray; font-size: 10px;");
|
||
groupLayout->addWidget(lblTip);
|
||
|
||
// 矩阵编辑区域
|
||
QLabel* lblMatrix = new QLabel("变换矩阵 (4x4):", group);
|
||
lblMatrix->setStyleSheet("font-weight: bold;");
|
||
groupLayout->addWidget(lblMatrix);
|
||
|
||
m_matrixEdit = new QTextEdit(group);
|
||
m_matrixEdit->setFont(QFont("Consolas", 10));
|
||
m_matrixEdit->setMinimumHeight(100);
|
||
m_matrixEdit->setMaximumHeight(120);
|
||
// 初始化为单位矩阵
|
||
m_matrixEdit->setPlainText(
|
||
"1.0 0.0 0.0 0.0\n"
|
||
"0.0 1.0 0.0 0.0\n"
|
||
"0.0 0.0 1.0 0.0\n"
|
||
"0.0 0.0 0.0 1.0"
|
||
);
|
||
groupLayout->addWidget(m_matrixEdit);
|
||
|
||
// 从文件加载按钮
|
||
m_btnLoadMatrix = new QPushButton("从文件加载矩阵", group);
|
||
m_btnLoadMatrix->setMinimumHeight(30);
|
||
connect(m_btnLoadMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onLoadMatrix);
|
||
groupLayout->addWidget(m_btnLoadMatrix);
|
||
|
||
// 按钮行
|
||
QHBoxLayout* btnLayout = new QHBoxLayout();
|
||
m_btnApplyMatrix = new QPushButton("应用变换", group);
|
||
m_btnApplyMatrix->setMinimumHeight(30);
|
||
m_btnApplyMatrix->setStyleSheet("QPushButton { background-color: #4CAF50; color: white; font-weight: bold; }"
|
||
"QPushButton:hover { background-color: #45a049; }");
|
||
connect(m_btnApplyMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onApplyMatrix);
|
||
btnLayout->addWidget(m_btnApplyMatrix);
|
||
|
||
m_btnResetMatrix = new QPushButton("重置矩阵", group);
|
||
connect(m_btnResetMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onResetMatrix);
|
||
btnLayout->addWidget(m_btnResetMatrix);
|
||
groupLayout->addLayout(btnLayout);
|
||
|
||
// 文件格式说明
|
||
QLabel* lblFormat = new QLabel(
|
||
"矩阵文件格式：4行，每行4个数值\n"
|
||
"分隔符：空格/Tab/逗号\n"
|
||
"#开头的行为注释", group);
|
||
lblFormat->setWordWrap(true);
|
||
lblFormat->setStyleSheet("color: gray; font-size: 9px;");
|
||
groupLayout->addWidget(lblFormat);
|
||
|
||
layout->addWidget(group);
|
||
layout->addStretch();
|
||
return page;
|
||
}
|
||
|
||
void CloudViewMainWindow::onLoadMatrix()
|
||
{
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this,
|
||
"打开矩阵文件",
|
||
QString(),
|
||
"文本文件 (*.txt);;所有文件 (*.*)"
|
||
);
|
||
|
||
if (fileName.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
QFile file(fileName);
|
||
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||
QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
|
||
return;
|
||
}
|
||
|
||
QTextStream in(&file);
|
||
QVector<QVector<float>> rows;
|
||
|
||
while (!in.atEnd()) {
|
||
QString line = in.readLine().trimmed();
|
||
// 跳过空行和注释
|
||
if (line.isEmpty() || line.startsWith('#')) {
|
||
continue;
|
||
}
|
||
|
||
// 将逗号替换为空格，统一分隔符
|
||
line.replace(',', ' ');
|
||
line.replace('\t', ' ');
|
||
QStringList parts = line.split(' ', QString::SkipEmptyParts);
|
||
|
||
QVector<float> row;
|
||
bool ok = true;
|
||
for (const QString& part : parts) {
|
||
float val = part.toFloat(&ok);
|
||
if (!ok) break;
|
||
row.append(val);
|
||
}
|
||
|
||
if (!ok || row.size() != 4) {
|
||
QMessageBox::warning(this, "格式错误",
|
||
QString("第 %1 行格式无效，需要4个数值").arg(rows.size() + 1));
|
||
file.close();
|
||
return;
|
||
}
|
||
rows.append(row);
|
||
|
||
if (rows.size() == 4) {
|
||
break;
|
||
}
|
||
}
|
||
file.close();
|
||
|
||
if (rows.size() != 4) {
|
||
QMessageBox::warning(this, "格式错误",
|
||
QString("矩阵需要4行数据，当前只有 %1 行").arg(rows.size()));
|
||
return;
|
||
}
|
||
|
||
// 将矩阵显示到编辑区域
|
||
QString matrixText;
|
||
for (int r = 0; r < 4; ++r) {
|
||
QStringList vals;
|
||
for (int c = 0; c < 4; ++c) {
|
||
vals.append(QString::number(static_cast<double>(rows[r][c]), 'f', 6));
|
||
}
|
||
matrixText += vals.join(" ");
|
||
if (r < 3) matrixText += "\n";
|
||
}
|
||
m_matrixEdit->setPlainText(matrixText);
|
||
|
||
statusBar()->showMessage(QString("已从 %1 加载矩阵").arg(QFileInfo(fileName).fileName()));
|
||
LOG_INFO("[CloudView] Loaded matrix from %s\n", fileName.toStdString().c_str());
|
||
}
|
||
|
||
void CloudViewMainWindow::onApplyMatrix()
|
||
{
|
||
if (m_glWidget->getCloudCount() == 0) {
|
||
QMessageBox::warning(this, "提示", "请先加载点云");
|
||
return;
|
||
}
|
||
|
||
// 解析编辑区域中的矩阵
|
||
QString text = m_matrixEdit->toPlainText().trimmed();
|
||
QStringList lines = text.split('\n', QString::SkipEmptyParts);
|
||
|
||
QVector<QVector<float>> rows;
|
||
for (const QString& line : lines) {
|
||
QString cleaned = line.trimmed();
|
||
if (cleaned.isEmpty() || cleaned.startsWith('#')) {
|
||
continue;
|
||
}
|
||
cleaned.replace(',', ' ');
|
||
cleaned.replace('\t', ' ');
|
||
QStringList parts = cleaned.split(' ', QString::SkipEmptyParts);
|
||
|
||
QVector<float> row;
|
||
bool ok = true;
|
||
for (const QString& part : parts) {
|
||
float val = part.toFloat(&ok);
|
||
if (!ok) break;
|
||
row.append(val);
|
||
}
|
||
|
||
if (!ok || row.size() != 4) {
|
||
QMessageBox::warning(this, "格式错误", "矩阵格式无效，需要4行4列数值");
|
||
return;
|
||
}
|
||
rows.append(row);
|
||
}
|
||
|
||
if (rows.size() != 4) {
|
||
QMessageBox::warning(this, "格式错误",
|
||
QString("矩阵需要4行数据，当前 %1 行").arg(rows.size()));
|
||
return;
|
||
}
|
||
|
||
// 构造 QMatrix4x4（按行优先存储）
|
||
float values[16];
|
||
for (int r = 0; r < 4; ++r) {
|
||
for (int c = 0; c < 4; ++c) {
|
||
values[r * 4 + c] = rows[r][c];
|
||
}
|
||
}
|
||
QMatrix4x4 matrix(values);
|
||
|
||
// 检查是否为单位矩阵
|
||
if (matrix.isIdentity()) {
|
||
QMessageBox::information(this, "提示", "当前矩阵为单位矩阵，无需变换");
|
||
return;
|
||
}
|
||
|
||
// 应用变换
|
||
m_glWidget->transformAllClouds(matrix);
|
||
|
||
statusBar()->showMessage("已应用矩阵变换到所有点云");
|
||
LOG_INFO("[CloudView] Applied matrix transform to all point clouds\n");
|
||
}
|
||
|
||
void CloudViewMainWindow::onResetMatrix()
|
||
{
|
||
m_matrixEdit->setPlainText(
|
||
"1.0 0.0 0.0 0.0\n"
|
||
"0.0 1.0 0.0 0.0\n"
|
||
"0.0 0.0 1.0 0.0\n"
|
||
"0.0 0.0 0.0 1.0"
|
||
);
|
||
statusBar()->showMessage("矩阵已重置为单位矩阵");
|
||
}
|
||
|
||
void CloudViewMainWindow::onEulerOrderChanged(int index)
|
||
{
|
||
if (!m_glWidget) {
|
||
return;
|
||
}
|
||
|
||
EulerRotationOrder order = static_cast<EulerRotationOrder>(m_comboEulerOrder->itemData(index).toInt());
|
||
m_glWidget->setEulerRotationOrder(order);
|
||
|
||
// 如果有姿态点，刷新显示
|
||
m_glWidget->update();
|
||
|
||
QString orderName = m_comboEulerOrder->currentText();
|
||
statusBar()->showMessage(QString("欧拉角旋转顺序已切换为: %1").arg(orderName));
|
||
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()
|
||
{
|
||
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);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 X 值无效");
|
||
return;
|
||
}
|
||
|
||
float y = m_editPoint1Y->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 Y 值无效");
|
||
return;
|
||
}
|
||
|
||
float z = m_editPoint1Z->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点1 Z 值无效");
|
||
return;
|
||
}
|
||
|
||
// 更新选中点的坐标
|
||
m_glWidget->updateSelectedPointCoord(0, x, y, z);
|
||
|
||
// 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();
|
||
if (updatedPoints.size() >= 2) {
|
||
float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
|
||
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));
|
||
}
|
||
} 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));
|
||
}
|
||
|
||
LOG_INFO("[CloudView] Point1 coord updated to (%.3f, %.3f, %.3f)\n", x, y, z);
|
||
}
|
||
|
||
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);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 X 值无效");
|
||
return;
|
||
}
|
||
|
||
float y = m_editPoint2Y->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 Y 值无效");
|
||
return;
|
||
}
|
||
|
||
float z = m_editPoint2Z->text().toFloat(&ok);
|
||
if (!ok) {
|
||
QMessageBox::warning(this, "错误", "点2 Z 值无效");
|
||
return;
|
||
}
|
||
|
||
// 更新选中点的坐标
|
||
m_glWidget->updateSelectedPointCoord(1, x, y, z);
|
||
|
||
// 如果启用了测距，重新计算距离
|
||
if (m_glWidget->isMeasureDistanceEnabled()) {
|
||
auto updatedPoints = m_glWidget->getSelectedPoints();
|
||
if (updatedPoints.size() >= 2) {
|
||
float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
|
||
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));
|
||
}
|
||
} 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));
|
||
}
|
||
|
||
LOG_INFO("[CloudView] Point2 coord updated to (%.3f, %.3f, %.3f)\n", x, y, z);
|
||
}
|
||
|