feat: 添加点云去噪及其参数调整

src/gui/MainWindow.h

@@ -141,6 +141,7 @@ private:
     QPushButton *m_rightIRToggle;
     QPushButton *m_rgbToggle;
     QPushButton *m_pointCloudColorToggle;  // 点云颜色开关
+    QPushButton *m_pointCloudDenoiseToggle;  // Point cloud denoise toggle
 
     // 单目/双目模式切换按钮
     QPushButton *m_monocularBtn;
@@ -157,6 +158,12 @@ private:
     QPushButton *m_browseSavePathBtn;
     class QComboBox *m_depthFormatCombo;
     class QComboBox *m_pointCloudFormatCombo;
+    QSlider *m_denoiseSupportSlider;
+    QSpinBox *m_denoiseSupportSpinBox;
+    QSlider *m_denoiseTailSlider;
+    QSpinBox *m_denoiseTailSpinBox;
+    QSlider *m_denoiseBandSlider;
+    QSpinBox *m_denoiseBandSpinBox;
 
     // 显示控件
     QLabel *m_statusLabel;
@@ -212,6 +219,14 @@ private:
     QAtomicInt m_rgbProcessing;
     QAtomicInt m_leftIRProcessing;
     QAtomicInt m_rightIRProcessing;
+    QAtomicInt m_pointCloudProcessing;
+    QAtomicInt m_pointCloudDropCounter;
+    bool m_leftIrDisplayRangeInited;
+    float m_leftIrDisplayMin;
+    float m_leftIrDisplayMax;
+    bool m_rightIrDisplayRangeInited;
+    float m_rightIrDisplayMin;
+    float m_rightIrDisplayMax;
     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）