update: 扩大ip搜索范围，修改点云可视化逻辑，添加上位机与下位机曝光值同步

src/gui/MainWindow.cpp

@@ -377,11 +377,11 @@ void MainWindow::setupUI()
     QHBoxLayout *exposureLayout = new QHBoxLayout();
     m_exposureSlider = new QSlider(Qt::Horizontal, exposureGroup);
     m_exposureSlider->setRange(100, 100000);
-    m_exposureSlider->setValue(1000);
+    m_exposureSlider->setValue(5980);
 
     m_exposureSpinBox = new QSpinBox(exposureGroup);
     m_exposureSpinBox->setRange(100, 100000);
-    m_exposureSpinBox->setValue(1000);
+    m_exposureSpinBox->setValue(5980);
     m_exposureSpinBox->setMinimumWidth(80);
 
     exposureLayout->addWidget(m_exposureSlider, 3);
@@ -639,6 +639,18 @@ void MainWindow::setupConnections()
     connect(m_networkManager.get(), &NetworkManager::disconnected, this, &MainWindow::onNetworkDisconnected);
     connect(m_networkManager.get(), &NetworkManager::dataReceived, this, &MainWindow::onDataReceived);
 
+    // 接收下位机曝光值并同步到UI（连接时触发）
+    connect(m_networkManager.get(), &NetworkManager::exposureReceived, this, [this](int exposureUs) {
+        qDebug() << "[MainWindow] 收到曝光值同步:" << exposureUs << "us";
+        m_exposureSlider->blockSignals(true);
+        m_exposureSpinBox->blockSignals(true);
+        m_exposureSlider->setValue(exposureUs);
+        m_exposureSpinBox->setValue(exposureUs);
+        m_exposureSlider->blockSignals(false);
+        m_exposureSpinBox->blockSignals(false);
+        addLog(QString("同步相机曝光值: %1 μs").arg(exposureUs), "INFO");
+    });
+
     // GVSP数据信号连接（从NetworkManager）
     connect(m_networkManager.get(), &NetworkManager::imageReceived, this, &MainWindow::onImageReceived);
     connect(m_networkManager.get(), &NetworkManager::leftImageReceived, this, &MainWindow::onLeftImageReceived);
@@ -658,6 +670,17 @@ void MainWindow::setupConnections()
     connect(m_deviceScanner.get(), &DeviceScanner::scanProgress, this, &MainWindow::onScanProgress);
     connect(m_deviceScanner.get(), &DeviceScanner::scanFinished, this, &MainWindow::onScanFinished);
 
+    // 接收下位机曝光值并同步到UI
+    connect(m_deviceScanner.get(), &DeviceScanner::exposureReceived, this, [this](int exposureUs) {
+        m_exposureSlider->blockSignals(true);
+        m_exposureSpinBox->blockSignals(true);
+        m_exposureSlider->setValue(exposureUs);
+        m_exposureSpinBox->setValue(exposureUs);
+        m_exposureSlider->blockSignals(false);
+        m_exposureSpinBox->blockSignals(false);
+        addLog(QString("同步相机曝光值: %1 μs").arg(exposureUs), "INFO");
+    });
+
     // 设备列表选择连接
     connect(m_deviceList, &QListWidget::itemClicked, this, &MainWindow::onDeviceSelected);
 

src/gui/PointCloudGLWidget.cpp

@@ -1,5 +1,6 @@
 #include "gui/PointCloudGLWidget.h"
 #include <QDebug>
+#include <QPushButton>
 #include <cmath>
 #include <cfloat>
 
@@ -24,6 +25,17 @@ PointCloudGLWidget::PointCloudGLWidget(QWidget *parent)
     , m_colorMode(0)  // 默认黑白模式
 {
     setMinimumSize(400, 400);
+
+    // 添加重置视角按钮
+    QPushButton *resetBtn = new QPushButton("重置", this);
+    resetBtn->setFixedSize(60, 30);
+    resetBtn->move(10, 10);
+    resetBtn->setStyleSheet(
+        "QPushButton { background-color: rgba(50, 50, 50, 180); color: white; border: 1px solid #555; border-radius: 4px; }"
+        "QPushButton:hover { background-color: rgba(70, 70, 70, 200); }"
+        "QPushButton:pressed { background-color: rgba(40, 40, 40, 220); }"
+    );
+    connect(resetBtn, &QPushButton::clicked, this, &PointCloudGLWidget::resetView);
 }
 
 PointCloudGLWidget::~PointCloudGLWidget()
@@ -125,9 +137,12 @@ void PointCloudGLWidget::resizeGL(int w, int h)
 {
     m_projection.setToIdentity();
 
-    // 使用透视投影，从相机原点看向Z轴正方向
+    // 使用正交投影，避免透视变形
     float aspect = float(w) / float(h);
-    m_projection.perspective(m_fov, aspect, 1.0f, 50000.0f);
+    float orthoSize = m_viewDistance * 0.5f / m_zoom;
+    m_projection.ortho(-orthoSize * aspect, orthoSize * aspect,
+                       -orthoSize, orthoSize,
+                       -50000.0f, 50000.0f);
 }
 
 void PointCloudGLWidget::paintGL()
@@ -138,10 +153,13 @@ void PointCloudGLWidget::paintGL()
         return;
     }
 
-    // 重新计算透视投影矩阵
+    // 重新计算正交投影矩阵
     m_projection.setToIdentity();
     float aspect = float(width()) / float(height());
-    m_projection.perspective(m_fov / m_zoom, aspect, 1.0f, 50000.0f);
+    float orthoSize = m_viewDistance * 0.5f / m_zoom;
+    m_projection.ortho(-orthoSize * aspect, orthoSize * aspect,
+                       -orthoSize, orthoSize,
+                       -50000.0f, 50000.0f);
 
     // 设置view矩阵 - 轨道相机模式（围绕点云中心旋转）
     m_view.setToIdentity();
@@ -238,9 +256,9 @@ void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cl
     float minZ = FLT_MAX, maxZ = -FLT_MAX;
 
     for (const auto& point : cloud->points) {
-        if (point.z > 0.01f) {
+        if (point.z > 0.01f) {  // 过滤掉无效的零点
             m_vertices.push_back(point.x);
-            m_vertices.push_back(point.y);
+            m_vertices.push_back(-point.y);
             m_vertices.push_back(point.z);
 
             // 更新包围盒
@@ -297,6 +315,19 @@ void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cl
     update();
 }
 
+void PointCloudGLWidget::resetView()
+{
+    // 重置所有视角参数到初始状态
+    m_rotationX = 0.0f;
+    m_rotationY = 0.0f;
+    m_panOffset = QVector3D(0.0f, 0.0f, 0.0f);
+    m_zoom = 1.0f;
+    m_firstFrame = true;  // 标记为首帧，下次更新时会重新计算视角
+
+    update();
+    qDebug() << "[PointCloudGLWidget] 视角已重置";
+}
+
 void PointCloudGLWidget::updateBuffers()
 {
     if (m_vertices.empty() || !m_vao || !m_vertexBuffer) {