feat: 重新规划ui布局；增加左右红外以及rgb相机可视化

src/gui/MainWindow.h

@@ -35,7 +35,6 @@ private slots:
     // 相机控制槽函数
     void onStartClicked();
     void onStopClicked();
-    void onOnceClicked();
     void onExposureChanged(int value);
     void onCaptureClicked();
     void onBrowseSavePathClicked();
@@ -51,6 +50,9 @@ private slots:
 
     // GVSP数据处理槽函数
     void onImageReceived(const QImage &image, uint32_t blockId);
+    void onLeftImageReceived(const QByteArray &jpegData, uint32_t blockId);
+    void onRightImageReceived(const QByteArray &jpegData, uint32_t blockId);
+    void onRgbImageReceived(const QByteArray &jpegData, 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);
@@ -84,7 +86,9 @@ private:
     bool savePointCloud(const QString &dir, const QString &baseName, const QString &format);
     void performBackgroundSave(const QString &saveDir, const QString &baseName,
                                const QString &depthFormat, const QString &pointCloudFormat,
-                               const QImage &image, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+                               const QImage &image, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
+                               const QByteArray &leftIRData, const QByteArray &rightIRData,
+                               const QByteArray &rgbData);
 
     // 日志辅助函数
     void addLog(const QString &message, const QString &level = "INFO");
@@ -102,28 +106,45 @@ private:
 
     // 状态变量
     bool m_isConnected;
-    bool m_autoSaveOnNextFrame;
 
     // 当前帧数据（用于拍照）
     QImage m_currentImage;
     pcl::PointCloud<pcl::PointXYZ>::Ptr m_currentPointCloud;
     uint32_t m_currentFrameId;
 
+    // 三个相机的原始JPEG数据（用于保存完整分辨率图像）
+    QByteArray m_currentLeftIRData;
+    QByteArray m_currentRightIRData;
+    QByteArray m_currentRgbData;
+
     // UI控件指针
     class QWidget *m_centralWidget;
     class QSplitter *m_mainSplitter;
     class QWidget *m_controlPanel;
-    class QLabel *m_imageDisplay;
+    class QLabel *m_imageDisplay;  // 兼容旧代码
     PointCloudWidget *m_pointCloudWidget;
+
+    // 三个图像显示控件
+    QLabel *m_leftImageDisplay;
+    QLabel *m_rightImageDisplay;
+    QLabel *m_rgbImageDisplay;
     
     // 按钮控件
     QPushButton *m_refreshBtn;
     QPushButton *m_connectBtn;
     QPushButton *m_startBtn;
     QPushButton *m_stopBtn;
-    QPushButton *m_onceBtn;
     QPushButton *m_captureBtn;
-    
+
+    // 数据传输开关按钮
+    QPushButton *m_leftIRToggle;
+    QPushButton *m_rightIRToggle;
+    QPushButton *m_rgbToggle;
+
+    // 单目/双目模式切换按钮
+    QPushButton *m_monocularBtn;
+    QPushButton *m_binocularBtn;
+
     // 输入控件
     QSlider *m_exposureSlider;
     QSpinBox *m_exposureSpinBox;
@@ -146,6 +167,11 @@ private:
     QLabel *m_resolutionLabel;
     QLabel *m_queueLabel;
 
+    // 三个相机的FPS标签
+    QLabel *m_leftFpsLabel;
+    QLabel *m_rightFpsLabel;
+    QLabel *m_rgbFpsLabel;
+
     // 日志显示控件
     class QTextEdit *m_logDisplay;
     QPushButton *m_clearLogBtn;
@@ -162,6 +188,33 @@ private:
     int m_pointCloudFrameCount;
     int m_totalPointCloudFrameCount;
     double m_currentPointCloudFps;
+
+    // 统计数据 - 左红外
+    QDateTime m_lastLeftFrameTime;
+    int m_leftFrameCount;
+    int m_totalLeftFrameCount;
+    double m_currentLeftFps;
+
+    // 统计数据 - 右红外
+    QDateTime m_lastRightFrameTime;
+    int m_rightFrameCount;
+    int m_totalRightFrameCount;
+    double m_currentRightFps;
+
+    // 统计数据 - RGB
+    QDateTime m_lastRgbFrameTime;
+    int m_rgbFrameCount;
+    int m_totalRgbFrameCount;
+    double m_currentRgbFps;
+
+    // RGB解码处理标志（防止线程积压）
+    QAtomicInt m_rgbProcessing;
+    int m_rgbSkipCounter;  // RGB帧跳过计数器
+
+    // 相机启用状态标志（防止关闭后闪烁）
+    QAtomicInt m_leftIREnabled;
+    QAtomicInt m_rightIREnabled;
+    QAtomicInt m_rgbEnabled;
 };
 
 #endif // MAINWINDOW_H

src/gui/PointCloudGLWidget.cpp

@@ -9,9 +9,11 @@ PointCloudGLWidget::PointCloudGLWidget(QWidget *parent)
     , m_vertexBuffer(nullptr)
     , m_vao(nullptr)
     , m_pointCount(0)
+    , m_fixedCenter(0.0f, 0.0f, 0.0f)
+    , m_centerInitialized(false)
     , m_orthoSize(2000.0f)  // 正交投影视野大小
     , m_rotationX(0.0f)     // 从正面看（0度）
-    , m_rotationY(0.0f)     // 从正面看（0度）
+    , m_rotationY(0.0f)     // 不旋转Y轴
     , m_translation(0.0f, 0.0f, 0.0f)
     , m_leftButtonPressed(false)
     , m_rightButtonPressed(false)
@@ -67,7 +69,7 @@ void PointCloudGLWidget::setupShaders()
         uniform mat4 mvp;
         void main() {
             gl_Position = mvp * vec4(position, 1.0);
-            gl_PointSize = 2.0;
+            gl_PointSize = 1.0;  // 减小点的大小
         }
     )";
 
@@ -221,6 +223,27 @@ void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cl
 
     m_pointCount = m_vertices.size() / 3;
 
+    // 计算点云中心并进行中心化处理
+    if (m_pointCount > 0) {
+        float centerX = (minX + maxX) / 2.0f;
+        float centerY = (minY + maxY) / 2.0f;
+        float centerZ = (minZ + maxZ) / 2.0f;
+
+        // 第一帧：初始化固定中心点
+        if (!m_centerInitialized) {
+            m_fixedCenter = QVector3D(centerX, centerY, centerZ);
+            m_centerInitialized = true;
+            qDebug() << "[PointCloudGLWidget] Fixed center initialized:" << m_fixedCenter;
+        }
+
+        // 使用固定的中心点进行中心化（避免抖动）
+        for (size_t i = 0; i < m_vertices.size(); i += 3) {
+            m_vertices[i] -= m_fixedCenter.x();      // X坐标
+            m_vertices[i + 1] -= m_fixedCenter.y();  // Y坐标
+            m_vertices[i + 2] -= m_fixedCenter.z();  // Z坐标
+        }
+    }
+
     // 添加调试日志
     static int updateCount = 0;
     if (updateCount < 3 || updateCount % 100 == 0) {