feat: 添加点云去噪及其参数调整

include/core/PointCloudProcessor.h

@@ -1,8 +1,10 @@
-#ifndef POINTCLOUDPROCESSOR_H
+#ifndef POINTCLOUDPROCESSOR_H
 #define POINTCLOUDPROCESSOR_H
 
 #include <QObject>
 #include <QByteArray>
+#include <atomic>
+#include <mutex>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <CL/cl.h>
@@ -15,44 +17,38 @@ public:
     explicit PointCloudProcessor(QObject *parent = nullptr);
     ~PointCloudProcessor();
 
-    // 初始化OpenCL
     bool initializeOpenCL();
-
-    // 设置相机内参
     void setCameraIntrinsics(float fx, float fy, float cx, float cy);
-
-    // 设置Z缩放因子
     void setZScaleFactor(float scale);
 
-    // 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);
 
+    void setDenoiseEnabled(bool enabled);
+    void setDenoiseNeighborSupport(int minNeighbors);
+    void setDenoiseLowTailPermille(int permille);
+    void setDenoiseDepthBandPermille(int permille);
+
 signals:
     void pointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
     void errorOccurred(const QString &error);
 
 private:
-    // 清理OpenCL资源
+    pcl::PointCloud<pcl::PointXYZ>::Ptr applyDenoise(const pcl::PointCloud<pcl::PointXYZ>::Ptr &input);
+    void loadLowerCalibration();
     void cleanupOpenCL();
 
-    // 相机内参
     float m_fx;
     float m_fy;
     float m_cx;
     float m_cy;
 
-    // Z缩放因子
     float m_zScale;
 
-    // 图像尺寸
     int m_imageWidth;
     int m_imageHeight;
     int m_totalPoints;
 
-    // OpenCL资源
     cl_platform_id m_platform;
     cl_device_id m_device;
     cl_context m_context;
@@ -62,6 +58,30 @@ private:
     cl_mem m_depthBuffer;
     cl_mem m_xyzBuffer;
     bool m_clInitialized;
+
+    std::atomic_bool m_denoiseEnabled;
+    float m_voxelLeafSize;
+    std::atomic_int m_denoiseNeighborSupport;
+    std::atomic_int m_denoiseLowTailPermille;
+    std::atomic_int m_denoiseDepthBandPermille;
+
+    // Calibration params aligned with lower-machine model
+    float m_k1;
+    float m_k2;
+    float m_p1;
+    float m_p2;
+    float m_p5;
+    float m_p6;
+    float m_p7;
+    float m_p8;
+    bool m_hasLowerCalibration;
+
+    // Temporal stabilizers for denoise to reduce frame-to-frame flicker.
+    std::mutex m_denoiseStateMutex;
+    bool m_hasAnchorMeanZ;
+    float m_anchorMeanZFiltered;
+    bool m_hasLowCutZ;
+    float m_lowCutZFiltered;
 };
 
 #endif // POINTCLOUDPROCESSOR_H