feat: v0.1.0更新

include/core/GVSPParser.h

@@ -0,0 +1,121 @@
+#ifndef GVSPPARSER_H
+#define GVSPPARSER_H
+
+#include <QObject>
+#include <QByteArray>
+#include <QImage>
+#include <cstdint>
+
+// GVSP packet types
+#define GVSP_LEADER_PACKET   0x01
+#define GVSP_PAYLOAD_PACKET  0x02
+#define GVSP_TRAILER_PACKET  0x03
+
+// Payload types
+#define PAYLOAD_TYPE_IMAGE   0x0001
+#define PAYLOAD_TYPE_BINARY  0x0003
+
+// Image format
+#define PIXEL_FORMAT_12BIT_GRAY  0x010C0001
+
+// Image dimensions
+#define IMAGE_WIDTH  1224
+#define IMAGE_HEIGHT 1024
+
+#pragma pack(push, 1)
+
+// GVSP packet header
+struct GVSPPacketHeader {
+    uint16_t status;
+    uint16_t block_id;
+    uint32_t packet_fmt_id;
+};
+
+// Image data leader
+struct GVSPImageDataLeader {
+    uint16_t reserved;
+    uint16_t payload_type;
+    uint32_t timestamp_high;
+    uint32_t timestamp_low;
+    uint32_t pixel_format;
+    uint32_t size_x;
+    uint32_t size_y;
+    uint32_t offset_x;
+    uint32_t offset_y;
+    uint16_t padding_x;
+    uint16_t padding_y;
+};
+
+// Image data trailer
+struct GVSPImageDataTrailer {
+    uint32_t reserved;
+    uint16_t payload_type;
+    uint32_t size_y;
+};
+
+// Binary data leader (for depth data)
+struct GVSPBinaryDataLeader {
+    uint16_t reserved;
+    uint16_t payload_type;
+    uint32_t timestamp_high;
+    uint32_t timestamp_low;
+    uint32_t file_size;
+    uint32_t name_len;
+    char file_name[256];
+};
+
+// Binary data trailer
+struct GVSPBinaryDataTrailer {
+    uint32_t reserved;
+    uint16_t payload_type;
+    uint32_t checksum;
+};
+
+#pragma pack(pop)
+
+class GVSPParser : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit GVSPParser(QObject *parent = nullptr);
+    ~GVSPParser();
+
+    void parsePacket(const QByteArray &packet);
+    void reset();
+
+signals:
+    void imageReceived(const QImage &image, uint32_t blockId);
+    void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void parseError(const QString &error);
+
+private:
+    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();
+
+private:
+    // Reception state
+    bool m_isReceiving;
+    int m_dataType;  // 0=unknown, 1=image, 3=depth
+    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;
+
+    // Statistics
+    uint32_t m_lastBlockId;
+    int m_packetCount;
+};
+
+#endif // GVSPPARSER_H

include/core/Logger.h

@@ -0,0 +1,41 @@
+#ifndef LOGGER_H
+#define LOGGER_H
+
+#include <QObject>
+#include <QString>
+#include <QFile>
+#include <QTextStream>
+#include <QMutex>
+
+class Logger : public QObject
+{
+    Q_OBJECT
+
+public:
+    static Logger* instance();
+
+    void setLogFile(const QString &filePath);
+    void setMaxLines(int maxLines);
+
+    void log(const QString &message);
+    void debug(const QString &message);
+    void info(const QString &message);
+    void warning(const QString &message);
+    void error(const QString &message);
+
+private:
+    explicit Logger(QObject *parent = nullptr);
+    ~Logger();
+
+    void writeLog(const QString &level, const QString &message);
+    void checkAndTrimLog();
+
+    static Logger *s_instance;
+
+    QString m_logFilePath;
+    int m_maxLines;
+    QMutex m_mutex;
+    int m_currentLines;
+};
+
+#endif // LOGGER_H

include/core/PointCloudProcessor.h

@@ -0,0 +1,64 @@
+#ifndef POINTCLOUDPROCESSOR_H
+#define POINTCLOUDPROCESSOR_H
+
+#include <QObject>
+#include <QByteArray>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <CL/cl.h>
+
+class PointCloudProcessor : public QObject
+{
+    Q_OBJECT
+
+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);
+
+signals:
+    void pointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
+    void errorOccurred(const QString &error);
+
+private:
+    // 清理OpenCL资源
+    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;
+    cl_command_queue m_queue;
+    cl_program m_program;
+    cl_kernel m_kernel;
+    cl_mem m_depthBuffer;
+    cl_mem m_xyzBuffer;
+    bool m_clInitialized;
+};
+
+#endif // POINTCLOUDPROCESSOR_H