feat: 改写GIGE协议

.gitignore

@@ -6,4 +6,5 @@ build/**
 
 */.venv
 
-CLAUDE.md
+CLAUDE.md
+.claude/

include/core/GVSPParser.h

@@ -4,16 +4,18 @@
 #include <QObject>
 #include <QByteArray>
 #include <QImage>
+#include <QAtomicInt>
 #include <cstdint>
 
-// GVSP packet types
+// GVSP packet types (GigE Vision 2.1 standard)
 #define GVSP_LEADER_PACKET   0x01
-#define GVSP_PAYLOAD_PACKET  0x02
+#define GVSP_TRAILER_PACKET  0x02
-#define GVSP_TRAILER_PACKET  0x03
+#define GVSP_PAYLOAD_PACKET  0x03
 
 // Payload types
-#define PAYLOAD_TYPE_IMAGE   0x0001
+#define PAYLOAD_TYPE_IMAGE       0x0001
-#define PAYLOAD_TYPE_BINARY  0x0003
+#define PAYLOAD_TYPE_BINARY      0x0003
+#define PAYLOAD_TYPE_POINTCLOUD  0x8000  // Vendor-specific for point cloud data
 
 // Image format
 #define PIXEL_FORMAT_12BIT_GRAY  0x010C0001
@@ -24,11 +26,13 @@
 
 #pragma pack(push, 1)
 
-// GVSP packet header
+// GVSP packet header (GigE Vision 2.1 standard - 8 bytes)
 struct GVSPPacketHeader {
-    uint16_t status;
+    uint16_t status;           // Status flags
-    uint16_t block_id;
+    uint16_t block_id;         // Block ID (frame number)
-    uint32_t packet_fmt_id;
+    uint8_t  packet_format;    // Packet type: 0x01=Leader, 0x02=Trailer, 0x03=Payload
+    uint8_t  reserved;         // Reserved byte
+    uint16_t packet_id;        // Packet ID within block
 };
 
 // Image data leader
@@ -71,6 +75,22 @@ struct GVSPBinaryDataTrailer {
     uint32_t checksum;
 };
 
+// Point cloud data leader (vendor-specific, payload_type = 0x8000)
+struct GVSPPointCloudDataLeader {
+    uint16_t reserved;
+    uint16_t payload_type;      // 0x8000
+    uint32_t timestamp_high;
+    uint32_t timestamp_low;
+    uint32_t data_size;         // Total size of point cloud data
+};
+
+// Point cloud data trailer
+struct GVSPPointCloudDataTrailer {
+    uint32_t reserved;
+    uint16_t payload_type;      // 0x8000
+    uint32_t checksum;
+};
+
 #pragma pack(pop)
 
 class GVSPParser : public QObject
@@ -87,6 +107,7 @@ public:
 signals:
     void imageReceived(const QImage &image, uint32_t blockId);
     void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void pointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
     void parseError(const QString &error);
 
 private:
@@ -96,11 +117,12 @@ private:
 
     void processImageData();
     void processDepthData();
+    void processPointCloudData();
 
 private:
     // Reception state
     bool m_isReceiving;
-    int m_dataType;  // 0=unknown, 1=image, 3=depth
+    int m_dataType;  // 0=unknown, 1=image, 3=depth, 4=pointcloud
     uint32_t m_currentBlockId;
 
     // Data buffer
@@ -116,6 +138,9 @@ private:
     // Statistics
     uint32_t m_lastBlockId;
     int m_packetCount;
+
+    // Async processing control
+    QAtomicInt m_imageProcessingCount;
 };
 
 #endif // GVSPPARSER_H

include/core/PointCloudProcessor.h

@@ -27,6 +27,9 @@ public:
     // 将深度数据转换为点云（使用OpenCL GPU加速）
     void processDepthData(const QByteArray &depthData, uint32_t blockId);
 
+    // 处理已经计算好的点云数据（x,y,z格式）
+    void processPointCloudData(const QByteArray &cloudData, uint32_t blockId);
+
 signals:
     void pointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
     void errorOccurred(const QString &error);

src/core/GVSPParser.cpp

@@ -1,5 +1,6 @@
 #include "core/GVSPParser.h"
 #include <QDebug>
+#include <QtConcurrent>
 #include <cstring>
 #include <winsock2.h>
 
@@ -16,6 +17,7 @@ GVSPParser::GVSPParser(QObject *parent)
     , m_lastBlockId(0)
     , m_packetCount(0)
 {
+    m_imageProcessingCount.storeRelaxed(0);
 }
 
 GVSPParser::~GVSPParser()
@@ -35,6 +37,8 @@ void GVSPParser::reset()
 
 void GVSPParser::parsePacket(const QByteArray &packet)
 {
+    static int debugCount = 0;
+
     if (packet.size() < sizeof(GVSPPacketHeader)) {
         return;
     }
@@ -42,27 +46,20 @@ void GVSPParser::parsePacket(const QByteArray &packet)
     const uint8_t *data = reinterpret_cast<const uint8_t*>(packet.constData());
     const GVSPPacketHeader *header = reinterpret_cast<const GVSPPacketHeader*>(data);
 
-    // 注释掉调试日志以提高性能
+    // GigE Vision 2.1 标准 GVSP 包头解析
-    // static int debugCount = 0;
-    // if (debugCount < 3) {
-    //     qDebug() << "Packet" << debugCount << "first 16 bytes (hex):";
-    //     QString hexStr;
-    //     for (int i = 0; i < qMin(16, packet.size()); i++) {
-    //         hexStr += QString("%1 ").arg(data[i], 2, 16, QChar('0'));
-    //     }
-    //     qDebug() << hexStr;
-    //     debugCount++;
-    // }
-
-    // GVSP包头格式：status(2) + block_id(2) + packet_format(4)
-    // 包类型在packet_format的高字节
-    uint32_t packet_fmt = ntohl(header->packet_fmt_id);
-    uint8_t packetType = (packet_fmt >> 24) & 0xFF;
     uint16_t blockId = ntohs(header->block_id);
+    uint8_t packetType = header->packet_format;
+    uint16_t packetId = ntohs(header->packet_id);
 
-    // 注释掉频繁的日志输出以提高性能
+    // 打印前5个包的详细信息
-    // static int leaderCount = 0;
+    if (debugCount < 5) {
-    // static int trailerCount = 0;
+    // qDebug() << "[GVSPParser] Packet" << debugCount
+    // << "Type:" << packetType
+    // << "BlockID:" << blockId
+    // << "PacketID:" << packetId
+    // << "Size:" << packet.size();
+        debugCount++;
+    }
 
     switch (packetType) {
         case GVSP_LEADER_PACKET:
@@ -81,7 +78,9 @@ void GVSPParser::parsePacket(const QByteArray &packet)
 
 void GVSPParser::handleLeaderPacket(const uint8_t *data, size_t size)
 {
-    if (size < sizeof(GVSPPacketHeader) + sizeof(GVSPImageDataLeader)) {
+    // 最小大小检查：至少要有包头 + 2字节reserved + 2字节payload_type
+    if (size < sizeof(GVSPPacketHeader) + 4) {
+        qDebug() << "[GVSPParser] Leader packet too small:" << size << "bytes";
         return;
     }
 
@@ -92,8 +91,16 @@ void GVSPParser::handleLeaderPacket(const uint8_t *data, size_t size)
     const uint16_t *payload_type_ptr = reinterpret_cast<const uint16_t*>(data + sizeof(GVSPPacketHeader) + 2);
     uint16_t payload_type = ntohs(*payload_type_ptr);
 
+//     qDebug() << "[GVSPParser] Leader packet: BlockID=" << m_currentBlockId
+//              << "PayloadType=0x" << Qt::hex << payload_type << Qt::dec
+//              << "Size=" << size;
+
     if (payload_type == PAYLOAD_TYPE_IMAGE) {
         // Image data leader
+        if (size < sizeof(GVSPPacketHeader) + sizeof(GVSPImageDataLeader)) {
+            qDebug() << "[GVSPParser] Image leader too small";
+            return;
+        }
         const GVSPImageDataLeader *leader = reinterpret_cast<const GVSPImageDataLeader*>(data + sizeof(GVSPPacketHeader));
         
         m_dataType = 1;
@@ -115,10 +122,10 @@ void GVSPParser::handleLeaderPacket(const uint8_t *data, size_t size)
     else if (payload_type == PAYLOAD_TYPE_BINARY) {
         // Depth data leader
         const GVSPBinaryDataLeader *leader = reinterpret_cast<const GVSPBinaryDataLeader*>(data + sizeof(GVSPPacketHeader));
-        
+
         m_dataType = 3;
         m_expectedSize = ntohl(leader->file_size);
-        
+
         m_dataBuffer.clear();
         m_dataBuffer.reserve(m_expectedSize);
         m_receivedSize = 0;
@@ -129,6 +136,22 @@ void GVSPParser::handleLeaderPacket(const uint8_t *data, size_t size)
         // qDebug() << "Depth Leader: Block" << m_currentBlockId
         //          << "Size:" << m_expectedSize << "bytes";
     }
+    else if (payload_type == PAYLOAD_TYPE_POINTCLOUD) {
+        // Point cloud data leader (vendor-specific 0x8000)
+        const GVSPPointCloudDataLeader *leader = reinterpret_cast<const GVSPPointCloudDataLeader*>(data + sizeof(GVSPPacketHeader));
+
+        m_dataType = 4;  // 新类型：点云数据
+        m_expectedSize = ntohl(leader->data_size);
+
+        m_dataBuffer.clear();
+        m_dataBuffer.reserve(m_expectedSize);
+        m_receivedSize = 0;
+        m_isReceiving = true;
+        m_packetCount = 0;
+
+    // qDebug() << "[PointCloud Leader] Block:" << m_currentBlockId
+    // << "Expected Size:" << m_expectedSize << "bytes";
+    }
 }
 
 void GVSPParser::handlePayloadPacket(const uint8_t *data, size_t size)
@@ -167,6 +190,8 @@ void GVSPParser::handleTrailerPacket(const uint8_t *data, size_t size)
         processImageData();
     } else if (m_dataType == 3) {
         processDepthData();
+    } else if (m_dataType == 4) {
+        processPointCloudData();
     }
 
     // Reset state
@@ -177,43 +202,60 @@ void GVSPParser::handleTrailerPacket(const uint8_t *data, size_t size)
 void GVSPParser::processImageData()
 {
     if (m_dataBuffer.size() < m_expectedSize) {
-        // 注释掉频繁的警告日志
-        // qDebug() << "Warning: Incomplete image data" << m_dataBuffer.size() << "/" << m_expectedSize;
         return;
     }
 
-    // Convert 16-bit depth data to 8-bit grayscale for display
+    // 节流机制：如果已有3个或更多图像在处理中，跳过当前帧
-    const uint16_t *src = reinterpret_cast<const uint16_t*>(m_dataBuffer.constData());
+    if (m_imageProcessingCount.loadAcquire() >= 3) {
-    QImage image(m_imageWidth, m_imageHeight, QImage::Format_Grayscale8);
+        return;
-
-    // Find min/max for normalization
-    uint16_t minVal = 65535, maxVal = 0;
-    for (size_t i = 0; i < m_imageWidth * m_imageHeight; i++) {
-        uint16_t val = src[i];
-        if (val > 0) {
-            if (val < minVal) minVal = val;
-            if (val > maxVal) maxVal = val;
-        }
     }
 
-    // Normalize to 0-255
+    // 增加处理计数
-    uint8_t *dst = image.bits();
+    m_imageProcessingCount.ref();
-    float scale = (maxVal > minVal) ? (255.0f / (maxVal - minVal)) : 0.0f;
 
-    for (size_t y = 0; y < m_imageHeight; y++) {
+    // 复制数据到局部变量，避免在异步处理时数据被覆盖
-        for (size_t x = 0; x < m_imageWidth; x++) {
+    QByteArray dataCopy = m_dataBuffer;
-            size_t idx = y * m_imageWidth + x;
+    uint32_t blockId = m_currentBlockId;
+    size_t width = m_imageWidth;
+    size_t height = m_imageHeight;
 
-            uint16_t val = src[idx];
+    // 使用QtConcurrent在后台线程处理图像数据
-            if (val == 0) {
+    QtConcurrent::run([this, dataCopy, blockId, width, height]() {
-                dst[idx] = 0;
+        // Convert 16-bit depth data to 8-bit grayscale for display
-            } else {
+        const uint16_t *src = reinterpret_cast<const uint16_t*>(dataCopy.constData());
-                dst[idx] = static_cast<uint8_t>((val - minVal) * scale);
+        QImage image(width, height, QImage::Format_Grayscale8);
+
+        // 优化：使用采样方式快速估算min/max（每隔16个像素采样一次）
+        uint16_t minVal = 65535, maxVal = 0;
+        size_t totalPixels = width * height;
+        const size_t sampleStep = 16;  // 采样步长
+
+        for (size_t i = 0; i < totalPixels; i += sampleStep) {
+            uint16_t val = src[i];
+            if (val > 0) {
+                if (val < minVal) minVal = val;
+                if (val > maxVal) maxVal = val;
             }
         }
-    }
 
-    emit imageReceived(image, m_currentBlockId);
+        // 归一化并水平翻转（修正左右镜像）
+        uint8_t *dst = image.bits();
+        float scale = (maxVal > minVal) ? (255.0f / (maxVal - minVal)) : 0.0f;
+
+        for (size_t row = 0; row < height; row++) {
+            for (size_t col = 0; col < width; col++) {
+                size_t srcIdx = row * width + col;
+                size_t dstIdx = row * width + (width - 1 - col);  // 水平翻转
+                uint16_t val = src[srcIdx];
+                dst[dstIdx] = (val == 0) ? 0 : static_cast<uint8_t>((val - minVal) * scale);
+            }
+        }
+
+        emit imageReceived(image, blockId);
+
+        // 减少处理计数
+        m_imageProcessingCount.deref();
+    });
 }
 
 void GVSPParser::processDepthData()
@@ -226,3 +268,18 @@ void GVSPParser::processDepthData()
 
     emit depthDataReceived(m_dataBuffer, m_currentBlockId);
 }
+
+void GVSPParser::processPointCloudData()
+{
+    // qDebug() << "[PointCloud] Received:" << m_dataBuffer.size()
+    // << "bytes, Expected:" << m_expectedSize << "bytes";
+
+    if (m_dataBuffer.size() < m_expectedSize) {
+        qDebug() << "[PointCloud] ERROR: Data incomplete, skipping!";
+        return;
+    }
+
+    // qDebug() << "[PointCloud] Data complete, emitting pointCloudDataReceived signal...";
+    // 点云数据直接发送，格式为 short 数组 (x, y, z, x, y, z, ...)
+    emit pointCloudDataReceived(m_dataBuffer, m_currentBlockId);
+}

src/core/Logger.cpp

@@ -15,7 +15,7 @@ Logger* Logger::instance()
 
 Logger::Logger(QObject *parent)
     : QObject(parent)
-    , m_maxLines(10000)  // 保留最新10000行
+    , m_maxLines(100000)  // 保留最新10000行
     , m_currentLines(0)
 {
 }

src/core/NetworkManager.cpp

@@ -19,13 +19,14 @@ NetworkManager::NetworkManager(QObject *parent)
     // 连接GVSP解析器信号
     connect(m_gvspParser, &GVSPParser::imageReceived, this, &NetworkManager::imageReceived);
     connect(m_gvspParser, &GVSPParser::depthDataReceived, this, &NetworkManager::depthDataReceived);
+    connect(m_gvspParser, &GVSPParser::pointCloudDataReceived, this, &NetworkManager::pointCloudDataReceived);
 }
 
 NetworkManager::~NetworkManager()
 {
     disconnectFromCamera();
 }
-#define if(x) if ((x) && (rand() < RAND_MAX * 0.50))
+
 // ========== 连接和断开 ==========
 bool NetworkManager::connectToCamera(const QString &ip, int controlPort, int dataPort)
 {
@@ -152,9 +153,11 @@ void NetworkManager::onReadyRead()
         quint16 senderPort;
         m_dataSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
 
-        // 临时添加日志以诊断问题
+        // 只打印前5个包的详细信息
         if (packetCount < 5) {
-            qDebug() << "[NetworkManager] Received packet" << packetCount << "from" << sender.toString() << ":" << senderPort << "size:" << datagram.size();
+    // qDebug() << "[NetworkManager] Packet" << packetCount
+    // << "from" << sender.toString() << ":" << senderPort
+    // << "size:" << datagram.size() << "bytes";
         }
         packetCount++;
 
@@ -164,6 +167,11 @@ void NetworkManager::onReadyRead()
         // 仍然发出原始数据信号（用于调试）
         emit dataReceived(datagram);
     }
+
+    // 每1000个包打印一次统计（减少日志量）
+    if (packetCount % 1000 == 0) {
+    // qDebug() << "[NetworkManager] Total packets received:" << packetCount;
+    }
 }
 
 void NetworkManager::onError(QAbstractSocket::SocketError socketError)

src/core/NetworkManager.h

@@ -36,6 +36,7 @@ signals:
     void dataReceived(const QByteArray &data);
     void imageReceived(const QImage &image, uint32_t blockId);
     void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void pointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
 
 private slots:
     void onReadyRead();

src/core/PointCloudProcessor.cpp

@@ -1,6 +1,11 @@
 #include "core/PointCloudProcessor.h"
 #include <QDebug>
 #include <vector>
+#include <cmath>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
 
 PointCloudProcessor::PointCloudProcessor(QObject *parent)
     : QObject(parent)
@@ -246,6 +251,72 @@ void PointCloudProcessor::processDepthData(const QByteArray &depthData, uint32_t
     emit pointCloudReady(cloud, blockId);
 }
 
+void PointCloudProcessor::processPointCloudData(const QByteArray &cloudData, uint32_t blockId)
+{
+    // qDebug() << "[PointCloud] Processing pre-computed point cloud data";
+    // qDebug() << "[PointCloud] Data size:" << cloudData.size() << "bytes";
+
+    // 验证数据大小：支持两种格式
+    // 格式1：只有Z坐标 (width * height * sizeof(int16_t))
+    // 格式2：完整XYZ (width * height * 3 * sizeof(int16_t))
+    size_t expectedSizeZ = m_imageWidth * m_imageHeight * sizeof(int16_t);
+    size_t expectedSizeXYZ = m_imageWidth * m_imageHeight * 3 * sizeof(int16_t);
+
+    bool isZOnly = (cloudData.size() == expectedSizeZ);
+    bool isXYZ = (cloudData.size() == expectedSizeXYZ);
+
+    if (!isZOnly && !isXYZ) {
+        qDebug() << "[PointCloud] ERROR: Invalid point cloud data size:" << cloudData.size()
+                 << "expected:" << expectedSizeZ << "(Z only) or" << expectedSizeXYZ << "(XYZ)";
+        return;
+    }
+
+    // qDebug() << "[PointCloud] Data format:" << (isZOnly ? "Z only" : "XYZ");
+
+    // 创建PCL点云
+    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+    cloud->width = m_imageWidth;
+    cloud->height = m_imageHeight;
+    cloud->is_dense = false;
+    cloud->points.resize(m_totalPoints);
+
+    // 从int16_t数组读取点云数据
+    const int16_t* cloudShort = reinterpret_cast<const int16_t*>(cloudData.constData());
+
+    if (isZOnly) {
+        // Z-only格式：直接映射为平面点云（类似图像平面）
+        // X对应列（左右翻转），Y对应行（上下翻转），Z是深度值
+        // qDebug() << "[PointCloud] Processing Z-only format as planar mapping";
+
+        for (size_t i = 0; i < m_totalPoints; i++) {
+            int row = i / m_imageWidth;
+            int col = i % m_imageWidth;
+
+            // 直接映射：X=列（翻转），Y=行（翻转），Z=深度
+            float x = static_cast<float>(m_imageWidth - 1 - col);  // 左右翻转
+            float y = static_cast<float>(m_imageHeight - 1 - row);  // 上下翻转
+            float z = static_cast<float>(cloudShort[i]) * m_zScale;
+
+            cloud->points[i].x = x;
+            cloud->points[i].y = y;
+            cloud->points[i].z = z;
+        }
+    } else {
+        // XYZ格式：完整的三维坐标
+    // qDebug() << "[PointCloud] Processing XYZ format";
+
+        for (size_t i = 0; i < m_totalPoints; i++) {
+            cloud->points[i].x = static_cast<float>(cloudShort[i * 3 + 0]) * m_zScale;
+            cloud->points[i].y = static_cast<float>(cloudShort[i * 3 + 1]) * m_zScale;
+            cloud->points[i].z = static_cast<float>(cloudShort[i * 3 + 2]) * m_zScale;
+        }
+    }
+
+    // qDebug() << "[PointCloud] Block" << blockId << "processed successfully,"
+    // << m_totalPoints << "points";
+    emit pointCloudReady(cloud, blockId);
+}
+
 void PointCloudProcessor::cleanupOpenCL()
 {
     if (m_depthBuffer) {

src/gui/MainWindow.cpp

@@ -15,6 +15,7 @@
 #include <QSpinBox>
 #include <QSlider>
 #include <QTimer>
+#include <QThread>
 #include <QListWidget>
 #include <QDebug>
 #include <QFileDialog>
@@ -48,9 +49,12 @@ MainWindow::MainWindow(QWidget *parent)
     , m_autoSaveOnNextFrame(false)
     , m_currentPointCloud(new pcl::PointCloud<pcl::PointXYZ>())
     , m_currentFrameId(0)
-    , m_frameCount(0)
+    , m_depthFrameCount(0)
-    , m_totalFrameCount(0)
+    , m_totalDepthFrameCount(0)
-    , m_currentFps(0.0)
+    , m_currentDepthFps(0.0)
+    , m_pointCloudFrameCount(0)
+    , m_totalPointCloudFrameCount(0)
+    , m_currentPointCloudFps(0.0)
 {
     setupUI();
     setupConnections();
@@ -74,6 +78,15 @@ MainWindow::MainWindow(QWidget *parent)
 
 MainWindow::~MainWindow()
 {
+    // 在退出前发送STOP命令，停止下位机采集
+    if (m_isConnected && m_networkManager) {
+        qDebug() << "程序退出，发送STOP命令到下位机";
+        m_networkManager->sendStopCommand();
+
+        // 等待一小段时间确保命令发送完成
+        QThread::msleep(100);
+    }
+
     saveSettings();
 }
 
@@ -427,17 +440,20 @@ void MainWindow::setupUI()
     QGroupBox *statsGroup = new QGroupBox("统计信息", m_controlPanel);
     QVBoxLayout *statsLayout = new QVBoxLayout(statsGroup);
 
-    m_fpsLabel = new QLabel("帧率: 0.0 fps", statsGroup);
+    m_depthFpsLabel = new QLabel("红外图帧率: 0.0 fps", statsGroup);
+    m_pointCloudFpsLabel = new QLabel("点云帧率: 0.0 fps", statsGroup);
     m_resolutionLabel = new QLabel("分辨率: 1224 x 1024", statsGroup);
     m_queueLabel = new QLabel("接收帧数: 0", statsGroup);
 
     // 设置统计标签样式 - 移除固定颜色以支持深色模式
     QString statsLabelStyle = "QLabel { font-size: 10pt; padding: 4px; }";
-    m_fpsLabel->setStyleSheet(statsLabelStyle);
+    m_depthFpsLabel->setStyleSheet(statsLabelStyle);
+    m_pointCloudFpsLabel->setStyleSheet(statsLabelStyle);
     m_resolutionLabel->setStyleSheet(statsLabelStyle);
     m_queueLabel->setStyleSheet(statsLabelStyle);
 
-    statsLayout->addWidget(m_fpsLabel);
+    statsLayout->addWidget(m_depthFpsLabel);
+    statsLayout->addWidget(m_pointCloudFpsLabel);
     statsLayout->addWidget(m_resolutionLabel);
     statsLayout->addWidget(m_queueLabel);
 
@@ -472,6 +488,7 @@ void MainWindow::setupConnections()
     // GVSP数据信号连接（从NetworkManager）
     connect(m_networkManager.get(), &NetworkManager::imageReceived, this, &MainWindow::onImageReceived);
     connect(m_networkManager.get(), &NetworkManager::depthDataReceived, this, &MainWindow::onDepthDataReceived);
+    connect(m_networkManager.get(), &NetworkManager::pointCloudDataReceived, this, &MainWindow::onPointCloudDataReceived);
 
     // 点云处理信号连接
     connect(m_pointCloudProcessor.get(), &PointCloudProcessor::pointCloudReady, this, &MainWindow::onPointCloudReady);
@@ -712,26 +729,26 @@ void MainWindow::onImageReceived(const QImage &image, uint32_t blockId)
     m_currentImage = image;
     m_currentFrameId = blockId;
 
-    // 计算FPS和累计帧数
+    // 计算深度图FPS和累计帧数
-    m_frameCount++;
+    m_depthFrameCount++;
-    m_totalFrameCount++;
+    m_totalDepthFrameCount++;
     QDateTime currentTime = QDateTime::currentDateTime();
-    if (m_lastFrameTime.isValid()) {
+    if (m_lastDepthFrameTime.isValid()) {
-        qint64 elapsed = m_lastFrameTime.msecsTo(currentTime);
+        qint64 elapsed = m_lastDepthFrameTime.msecsTo(currentTime);
         if (elapsed >= 1000) {  // 每秒更新一次FPS
-            m_currentFps = (m_frameCount * 1000.0) / elapsed;
+            m_currentDepthFps = (m_depthFrameCount * 1000.0) / elapsed;
-            m_frameCount = 0;
+            m_depthFrameCount = 0;
-            m_lastFrameTime = currentTime;
+            m_lastDepthFrameTime = currentTime;
             updateStatistics();
         }
     } else {
-        m_lastFrameTime = currentTime;
+        m_lastDepthFrameTime = currentTime;
     }
 
-    // 将图像显示在UI上
+    // 将图像显示在UI上（使用快速缩放）
     if (m_imageDisplay) {
         QPixmap pixmap = QPixmap::fromImage(image);
-        m_imageDisplay->setPixmap(pixmap.scaled(m_imageDisplay->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
+        m_imageDisplay->setPixmap(pixmap.scaled(m_imageDisplay->size(), Qt::KeepAspectRatio, Qt::FastTransformation));
     }
 }
 
@@ -745,6 +762,16 @@ void MainWindow::onDepthDataReceived(const QByteArray &depthData, uint32_t block
     m_pointCloudProcessor->processDepthData(depthData, blockId);
 }
 
+void MainWindow::onPointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId)
+{
+    // qDebug() << "[MainWindow] Point cloud data received: Block" << blockId << "Size:" << cloudData.size() << "bytes";
+
+    // 使用QtConcurrent在后台线程处理点云数据
+    QtConcurrent::run([this, cloudData, blockId]() {
+        m_pointCloudProcessor->processPointCloudData(cloudData, blockId);
+    });
+}
+
 void MainWindow::onPointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId)
 {
     // 注释掉频繁的日志输出
@@ -753,6 +780,22 @@ void MainWindow::onPointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, ui
     // 保存当前点云用于拍照
     m_currentPointCloud = cloud;
 
+    // 计算点云FPS和累计帧数
+    m_pointCloudFrameCount++;
+    m_totalPointCloudFrameCount++;
+    QDateTime currentTime = QDateTime::currentDateTime();
+    if (m_lastPointCloudFrameTime.isValid()) {
+        qint64 elapsed = m_lastPointCloudFrameTime.msecsTo(currentTime);
+        if (elapsed >= 1000) {  // 每秒更新一次FPS
+            m_currentPointCloudFps = (m_pointCloudFrameCount * 1000.0) / elapsed;
+            m_pointCloudFrameCount = 0;
+            m_lastPointCloudFrameTime = currentTime;
+            updateStatistics();
+        }
+    } else {
+        m_lastPointCloudFrameTime = currentTime;
+    }
+
     // 更新点云显示
     if (m_pointCloudWidget) {
         m_pointCloudWidget->updatePointCloud(cloud);
@@ -1093,14 +1136,21 @@ void MainWindow::onSaveLogClicked()
 // ========== 统计信息更新 ==========
 void MainWindow::updateStatistics()
 {
-    // 更新帧率
+    // 更新红外图帧率
-    if (m_fpsLabel) {
+    if (m_depthFpsLabel) {
-        m_fpsLabel->setText(QString("帧率: %1 fps").arg(m_currentFps, 0, 'f', 1));
+        m_depthFpsLabel->setText(QString("红外图帧率: %1 fps").arg(m_currentDepthFps, 0, 'f', 1));
     }
 
-    // 更新接收帧数（显示累计总数）
+    // 更新点云帧率
+    if (m_pointCloudFpsLabel) {
+        m_pointCloudFpsLabel->setText(QString("点云帧率: %1 fps").arg(m_currentPointCloudFps, 0, 'f', 1));
+    }
+
+    // 更新接收帧数（显示红外图和点云的累计总数）
     if (m_queueLabel) {
-        m_queueLabel->setText(QString("接收帧数: %1").arg(m_totalFrameCount));
+        m_queueLabel->setText(QString("接收帧数: 红外%1 点云%2")
+            .arg(m_totalDepthFrameCount)
+            .arg(m_totalPointCloudFrameCount));
     }
 }
 

src/gui/MainWindow.h

@@ -52,6 +52,7 @@ private slots:
     // GVSP数据处理槽函数
     void onImageReceived(const QImage &image, uint32_t blockId);
     void onDepthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void onPointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
     void onPointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
 
     // 设备扫描槽函数
@@ -140,7 +141,8 @@ private:
     QListWidget *m_deviceList;
 
     // 统计信息控件
-    QLabel *m_fpsLabel;
+    QLabel *m_depthFpsLabel;
+    QLabel *m_pointCloudFpsLabel;
     QLabel *m_resolutionLabel;
     QLabel *m_queueLabel;
 
@@ -149,11 +151,17 @@ private:
     QPushButton *m_clearLogBtn;
     QPushButton *m_saveLogBtn;
 
-    // 统计数据
+    // 统计数据 - 深度图
-    QDateTime m_lastFrameTime;
+    QDateTime m_lastDepthFrameTime;
-    int m_frameCount;
+    int m_depthFrameCount;
-    int m_totalFrameCount;
+    int m_totalDepthFrameCount;
-    double m_currentFps;
+    double m_currentDepthFps;
+
+    // 统计数据 - 点云
+    QDateTime m_lastPointCloudFrameTime;
+    int m_pointCloudFrameCount;
+    int m_totalPointCloudFrameCount;
+    double m_currentPointCloudFps;
 };
 
 #endif // MAINWINDOW_H

src/gui/PointCloudGLWidget.cpp

@@ -224,11 +224,11 @@ void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cl
     // 添加调试日志
     static int updateCount = 0;
     if (updateCount < 3 || updateCount % 100 == 0) {
-        qDebug() << "[PointCloudGLWidget] Update" << updateCount << "- Points:" << m_pointCount
+    // qDebug() << "[PointCloudGLWidget] Update" << updateCount << "- Points:" << m_pointCount
-                 << "Total cloud size:" << cloud->size();
+    // << "Total cloud size:" << cloud->size();
-        qDebug() << "  X range:" << minX << "to" << maxX;
+    // qDebug() << "  X range:" << minX << "to" << maxX;
-        qDebug() << "  Y range:" << minY << "to" << maxY;
+    // qDebug() << "  Y range:" << minY << "to" << maxY;
-        qDebug() << "  Z range:" << minZ << "to" << maxZ;
+    // qDebug() << "  Z range:" << minZ << "to" << maxZ;
     }
     updateCount++;