feat: v0.1.0更新

include/gui/PointCloudGLWidget.h

@@ -0,0 +1,68 @@
+#ifndef POINTCLOUDGLWIDGET_H
+#define POINTCLOUDGLWIDGET_H
+
+#include <QOpenGLWidget>
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QOpenGLBuffer>
+#include <QOpenGLVertexArrayObject>
+#include <QMatrix4x4>
+#include <QVector3D>
+#include <QMouseEvent>
+#include <QWheelEvent>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <vector>
+
+class PointCloudGLWidget : public QOpenGLWidget, protected QOpenGLFunctions
+{
+    Q_OBJECT
+
+public:
+    explicit PointCloudGLWidget(QWidget *parent = nullptr);
+    ~PointCloudGLWidget();
+
+    void updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+
+protected:
+    void initializeGL() override;
+    void resizeGL(int w, int h) override;
+    void paintGL() override;
+
+    // 鼠标交互
+    void mousePressEvent(QMouseEvent *event) override;
+    void mouseMoveEvent(QMouseEvent *event) override;
+    void mouseReleaseEvent(QMouseEvent *event) override;
+    void wheelEvent(QWheelEvent *event) override;
+
+private:
+    void setupShaders();
+    void updateBuffers();
+
+private:
+    // OpenGL资源
+    QOpenGLShaderProgram *m_program;
+    QOpenGLBuffer *m_vertexBuffer;
+    QOpenGLVertexArrayObject *m_vao;
+
+    // 点云数据
+    std::vector<float> m_vertices;
+    int m_pointCount;
+
+    // 相机参数
+    QMatrix4x4 m_projection;
+    QMatrix4x4 m_view;
+    QMatrix4x4 m_model;
+
+    float m_orthoSize;     // 正交投影视野大小（控制缩放）
+    float m_rotationX;     // X轴旋转角度
+    float m_rotationY;     // Y轴旋转角度
+    QVector3D m_translation; // 平移
+
+    // 鼠标交互状态
+    QPoint m_lastMousePos;
+    bool m_leftButtonPressed;
+    bool m_rightButtonPressed;
+};
+
+#endif // POINTCLOUDGLWIDGET_H

include/gui/PointCloudWidget.h

@@ -0,0 +1,27 @@
+#ifndef POINTCLOUDWIDGET_H
+#define POINTCLOUDWIDGET_H
+
+#include <QWidget>
+#include <QLabel>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+class PointCloudGLWidget;
+
+class PointCloudWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit PointCloudWidget(QWidget *parent = nullptr);
+    ~PointCloudWidget();
+
+    // 更新点云显示
+    void updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+
+private:
+    QLabel *m_statusLabel;
+    PointCloudGLWidget *m_glWidget;
+};
+
+#endif // POINTCLOUDWIDGET_H