feat: v0.1.0更新

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