feat: 重新规划ui布局；增加左右红外以及rgb相机可视化

include/core/GVSPParser.h

@@ -19,10 +19,16 @@
 
 // Image format
 #define PIXEL_FORMAT_12BIT_GRAY  0x010C0001
+#define PIXEL_FORMAT_MONO16      0x01100005  // Mono16 format (legacy)
+#define PIXEL_FORMAT_MONO16_LEFT 0x01100006  // Mono16 format for left IR camera
+#define PIXEL_FORMAT_MONO16_RIGHT 0x01100007 // Mono16 format for right IR camera
+#define PIXEL_FORMAT_MJPEG       0x02180001  // MJPEG format for RGB camera
 
 // Image dimensions
 #define IMAGE_WIDTH  1224
 #define IMAGE_HEIGHT 1024
+#define RGB_WIDTH    1920
+#define RGB_HEIGHT   1080
 
 #pragma pack(push, 1)
 
@@ -105,39 +111,54 @@ public:
     void reset();
 
 signals:
-    void imageReceived(const QImage &image, uint32_t blockId);
-    void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void leftImageReceived(const QByteArray &jpegData, uint32_t blockId);   // 左红外图像(JPEG)
+    void rightImageReceived(const QByteArray &jpegData, uint32_t blockId);  // 右红外图像(JPEG)
+    void rgbImageReceived(const QByteArray &jpegData, uint32_t blockId);    // RGB图像(MJPEG)
     void pointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
     void parseError(const QString &error);
 
+    // 兼容旧代码
+    void imageReceived(const QImage &image, uint32_t blockId);
+    void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
+
 private:
+    // 每种数据流的独立接收状态
+    struct StreamState {
+        bool isReceiving;
+        uint32_t blockId;
+        QByteArray dataBuffer;
+        size_t expectedSize;
+        size_t receivedSize;
+        int packetCount;
+
+        // 图像特有信息
+        uint32_t imageWidth;
+        uint32_t imageHeight;
+        uint32_t pixelFormat;
+
+        StreamState() : isReceiving(false), blockId(0), expectedSize(0),
+                       receivedSize(0), packetCount(0), imageWidth(0),
+                       imageHeight(0), pixelFormat(0) {}
+    };
+
     void handleLeaderPacket(const uint8_t *data, size_t size);
     void handlePayloadPacket(const uint8_t *data, size_t size);
     void handleTrailerPacket(const uint8_t *data, size_t size);
 
-    void processImageData();
-    void processDepthData();
-    void processPointCloudData();
+    void processImageData(StreamState *state);
+    void processDepthData(StreamState *state);
+    void processPointCloudData(StreamState *state);
 
-private:
-    // Reception state
-    bool m_isReceiving;
-    int m_dataType;  // 0=unknown, 1=image, 3=depth, 4=pointcloud
-    uint32_t m_currentBlockId;
-
-    // Data buffer
-    QByteArray m_dataBuffer;
-    size_t m_expectedSize;
-    size_t m_receivedSize;
-
-    // Image info
-    uint32_t m_imageWidth;
-    uint32_t m_imageHeight;
-    uint32_t m_pixelFormat;
+    // 为每种数据类型维护独立的状态
+    StreamState m_leftIRState;      // 左红外
+    StreamState m_rightIRState;     // 右红外
+    StreamState m_rgbState;         // RGB
+    StreamState m_depthState;       // 深度数据
+    StreamState m_pointCloudState;  // 点云数据
 
     // Statistics
     uint32_t m_lastBlockId;
-    int m_packetCount;
+    int m_imageSequence;
 
     // Async processing control
     QAtomicInt m_imageProcessingCount;

include/gui/PointCloudGLWidget.h

@@ -49,6 +49,10 @@ private:
     std::vector<float> m_vertices;
     int m_pointCount;
 
+    // 固定的点云中心点（避免抖动）
+    QVector3D m_fixedCenter;
+    bool m_centerInitialized;
+
     // 相机参数
     QMatrix4x4 m_projection;
     QMatrix4x4 m_view;