feat: v0.1.0更新

src/gui/MainWindow.h

@@ -0,0 +1,159 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QTimer>
+#include <QDateTime>
+#include <memory>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+class ConfigManager;
+class NetworkManager;
+class DeviceScanner;
+class GVSPParser;
+class PointCloudProcessor;
+class PointCloudWidget;
+struct DeviceInfo;
+class QListWidget;
+class QListWidgetItem;
+class QPushButton;
+class QSlider;
+class QSpinBox;
+class QLabel;
+class QImage;
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+private slots:
+    // 相机控制槽函数
+    void onStartClicked();
+    void onStopClicked();
+    void onOnceClicked();
+    void onExposureChanged(int value);
+    void onCaptureClicked();
+    void onBrowseSavePathClicked();
+
+    // 网络配置槽函数
+    void onConnectClicked();
+    void onIpAddressChanged(const QString &ip);
+    void onControlPortChanged(int port);
+    void onDataPortChanged(int port);
+    void onNetworkConnected();
+    void onNetworkDisconnected();
+    void onDataReceived(const QByteArray &data);
+
+    // GVSP数据处理槽函数
+    void onImageReceived(const QImage &image, uint32_t blockId);
+    void onDepthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void onPointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
+
+    // 设备扫描槽函数
+    void onRefreshClicked();
+    void onDeviceFound(const DeviceInfo &device);
+    void onScanProgress(int current, int total);
+    void onScanFinished(int devicesFound);
+    void onDeviceSelected(QListWidgetItem *item);
+
+    // 定时器更新
+    void updateUI();
+
+    // 日志槽函数
+    void onClearLogClicked();
+    void onSaveLogClicked();
+
+protected:
+    // 重写事件处理函数以监听系统主题变化
+    void changeEvent(QEvent *event) override;
+
+private:
+    void setupUI();
+    void setupConnections();
+    void loadSettings();
+    void saveSettings();
+
+    // 拍照辅助函数
+    bool saveDepthImage(const QString &dir, const QString &baseName, const QString &format);
+    bool savePointCloud(const QString &dir, const QString &baseName, const QString &format);
+    void performBackgroundSave(const QString &saveDir, const QString &baseName,
+                               const QString &depthFormat, const QString &pointCloudFormat,
+                               const QImage &image, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+
+    // 日志辅助函数
+    void addLog(const QString &message, const QString &level = "INFO");
+    void updateStatistics();
+
+private:
+    // 核心管理器
+    std::unique_ptr<ConfigManager> m_configManager;
+    std::unique_ptr<NetworkManager> m_networkManager;
+    std::unique_ptr<DeviceScanner> m_deviceScanner;
+    std::unique_ptr<PointCloudProcessor> m_pointCloudProcessor;
+
+    // UI更新定时器
+    QTimer *m_updateTimer;
+
+    // 状态变量
+    bool m_isConnected;
+    bool m_autoSaveOnNextFrame;
+
+    // 当前帧数据（用于拍照）
+    QImage m_currentImage;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr m_currentPointCloud;
+    uint32_t m_currentFrameId;
+
+    // UI控件指针
+    class QWidget *m_centralWidget;
+    class QSplitter *m_mainSplitter;
+    class QWidget *m_controlPanel;
+    class QLabel *m_imageDisplay;
+    PointCloudWidget *m_pointCloudWidget;
+    
+    // 按钮控件
+    QPushButton *m_refreshBtn;
+    QPushButton *m_connectBtn;
+    QPushButton *m_startBtn;
+    QPushButton *m_stopBtn;
+    QPushButton *m_onceBtn;
+    QPushButton *m_captureBtn;
+    
+    // 输入控件
+    QSlider *m_exposureSlider;
+    QSpinBox *m_exposureSpinBox;
+    QSpinBox *m_ctrlPortSpinBox;
+    QSpinBox *m_dataPortSpinBox;
+
+    // 拍照参数控件
+    class QLineEdit *m_savePathEdit;
+    QPushButton *m_browseSavePathBtn;
+    class QComboBox *m_depthFormatCombo;
+    class QComboBox *m_pointCloudFormatCombo;
+
+    // 显示控件
+    QLabel *m_statusLabel;
+    QListWidget *m_deviceList;
+
+    // 统计信息控件
+    QLabel *m_fpsLabel;
+    QLabel *m_resolutionLabel;
+    QLabel *m_queueLabel;
+
+    // 日志显示控件
+    class QTextEdit *m_logDisplay;
+    QPushButton *m_clearLogBtn;
+    QPushButton *m_saveLogBtn;
+
+    // 统计数据
+    QDateTime m_lastFrameTime;
+    int m_frameCount;
+    int m_totalFrameCount;
+    double m_currentFps;
+};
+
+#endif // MAINWINDOW_H

src/gui/MainWindow_data_handler.cpp

@@ -0,0 +1,9 @@
+void MainWindow::onDataReceived(const QByteArray &data)
+{
+    static int packetCount = 0;
+    packetCount++;
+    
+    if (packetCount % 100 == 0) {
+        qDebug() << "Received" << packetCount << "packets, latest size:" << data.size() << "bytes";
+    }
+}

src/gui/PointCloudGLWidget.cpp

@@ -0,0 +1,259 @@
+#include "gui/PointCloudGLWidget.h"
+#include <QDebug>
+#include <cmath>
+#include <cfloat>
+
+PointCloudGLWidget::PointCloudGLWidget(QWidget *parent)
+    : QOpenGLWidget(parent)
+    , m_program(nullptr)
+    , m_vertexBuffer(nullptr)
+    , m_vao(nullptr)
+    , m_pointCount(0)
+    , m_orthoSize(2000.0f)  // 正交投影视野大小
+    , m_rotationX(0.0f)     // 从正面看（0度）
+    , m_rotationY(0.0f)     // 从正面看（0度）
+    , m_translation(0.0f, 0.0f, 0.0f)
+    , m_leftButtonPressed(false)
+    , m_rightButtonPressed(false)
+{
+    setMinimumSize(400, 400);
+}
+
+PointCloudGLWidget::~PointCloudGLWidget()
+{
+    makeCurrent();
+    if (m_vao) {
+        m_vao->destroy();
+        delete m_vao;
+    }
+    if (m_vertexBuffer) {
+        m_vertexBuffer->destroy();
+        delete m_vertexBuffer;
+    }
+    if (m_program) {
+        delete m_program;
+    }
+    doneCurrent();
+}
+
+void PointCloudGLWidget::initializeGL()
+{
+    initializeOpenGLFunctions();
+
+    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
+    glEnable(GL_DEPTH_TEST);
+    glEnable(GL_PROGRAM_POINT_SIZE);
+
+    setupShaders();
+
+    // 创建VAO和VBO
+    m_vao = new QOpenGLVertexArrayObject(this);
+    m_vao->create();
+
+    m_vertexBuffer = new QOpenGLBuffer(QOpenGLBuffer::VertexBuffer);
+    m_vertexBuffer->create();
+
+    qDebug() << "[PointCloudGLWidget] OpenGL initialized";
+}
+
+void PointCloudGLWidget::setupShaders()
+{
+    m_program = new QOpenGLShaderProgram(this);
+
+    // 顶点着色器
+    const char *vertexShaderSource = R"(
+        #version 330 core
+        layout(location = 0) in vec3 position;
+        uniform mat4 mvp;
+        void main() {
+            gl_Position = mvp * vec4(position, 1.0);
+            gl_PointSize = 2.0;
+        }
+    )";
+
+    // 片段着色器
+    const char *fragmentShaderSource = R"(
+        #version 330 core
+        out vec4 fragColor;
+        void main() {
+            fragColor = vec4(1.0, 1.0, 1.0, 1.0);
+        }
+    )";
+
+    if (!m_program->addShaderFromSourceCode(QOpenGLShader::Vertex, vertexShaderSource)) {
+        qDebug() << "[PointCloudGLWidget] Vertex shader error:" << m_program->log();
+    }
+    if (!m_program->addShaderFromSourceCode(QOpenGLShader::Fragment, fragmentShaderSource)) {
+        qDebug() << "[PointCloudGLWidget] Fragment shader error:" << m_program->log();
+    }
+    if (!m_program->link()) {
+        qDebug() << "[PointCloudGLWidget] Shader link error:" << m_program->log();
+    } else {
+        qDebug() << "[PointCloudGLWidget] Shaders compiled and linked successfully";
+    }
+}
+
+void PointCloudGLWidget::resizeGL(int w, int h)
+{
+    m_projection.setToIdentity();
+
+    // 使用正交投影代替透视投影，避免"喷射状"效果
+    float aspect = float(w) / float(h);
+    m_projection.ortho(-m_orthoSize * aspect, m_orthoSize * aspect,
+                       -m_orthoSize, m_orthoSize,
+                       -50000.0f, 50000.0f);  // 近平面和远平面
+}
+
+void PointCloudGLWidget::paintGL()
+{
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    if (m_pointCount == 0 || !m_program) {
+        return;
+    }
+
+    // 每帧重新计算正交投影矩阵（确保使用最新的m_orthoSize）
+    m_projection.setToIdentity();
+    float aspect = float(width()) / float(height());
+    m_projection.ortho(-m_orthoSize * aspect, m_orthoSize * aspect,
+                       -m_orthoSize, m_orthoSize,
+                       -50000.0f, 50000.0f);
+
+    // 设置view矩阵
+    m_view.setToIdentity();
+    m_view.rotate(m_rotationX, 1.0f, 0.0f, 0.0f);
+    m_view.rotate(m_rotationY, 0.0f, 1.0f, 0.0f);
+    m_view.translate(m_translation);
+
+    // 设置model矩阵
+    m_model.setToIdentity();
+
+    // 计算MVP矩阵
+    QMatrix4x4 mvp = m_projection * m_view * m_model;
+
+    // 绑定shader和设置uniform
+    m_program->bind();
+    m_program->setUniformValue("mvp", mvp);
+
+    // 绑定VAO和绘制
+    m_vao->bind();
+    glDrawArrays(GL_POINTS, 0, m_pointCount);
+    m_vao->release();
+
+    m_program->release();
+}
+
+void PointCloudGLWidget::mousePressEvent(QMouseEvent *event)
+{
+    m_lastMousePos = event->pos();
+    if (event->button() == Qt::LeftButton) {
+        m_leftButtonPressed = true;
+    } else if (event->button() == Qt::RightButton) {
+        m_rightButtonPressed = true;
+    }
+}
+
+void PointCloudGLWidget::mouseMoveEvent(QMouseEvent *event)
+{
+    QPoint delta = event->pos() - m_lastMousePos;
+    m_lastMousePos = event->pos();
+
+    if (m_leftButtonPressed) {
+        // 左键：旋转
+        m_rotationX += delta.y() * 0.5f;
+        m_rotationY += delta.x() * 0.5f;
+        update();
+    } else if (m_rightButtonPressed) {
+        // 右键：平移（根据正交投影视野大小调整平移速度）
+        float scale = m_orthoSize * 0.002f;
+        m_translation.setX(m_translation.x() + delta.x() * scale);
+        m_translation.setY(m_translation.y() - delta.y() * scale);
+        update();
+    }
+}
+
+void PointCloudGLWidget::mouseReleaseEvent(QMouseEvent *event)
+{
+    if (event->button() == Qt::LeftButton) {
+        m_leftButtonPressed = false;
+    } else if (event->button() == Qt::RightButton) {
+        m_rightButtonPressed = false;
+    }
+}
+
+void PointCloudGLWidget::wheelEvent(QWheelEvent *event)
+{
+    // 滚轮：缩放（调整正交投影视野大小）
+    float delta = event->angleDelta().y() / 120.0f;
+    m_orthoSize *= (1.0f - delta * 0.1f);
+    m_orthoSize = qMax(100.0f, qMin(m_orthoSize, 10000.0f));  // 范围：100-10000
+
+    update();  // 触发重绘，paintGL会使用新的m_orthoSize
+}
+
+void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
+{
+    if (!cloud) {
+        return;
+    }
+
+    // 过滤全零点并转换为顶点数组
+    m_vertices.clear();
+    float minX = FLT_MAX, maxX = -FLT_MAX;
+    float minY = FLT_MAX, maxY = -FLT_MAX;
+    float minZ = FLT_MAX, maxZ = -FLT_MAX;
+
+    for (const auto& point : cloud->points) {
+        if (point.z > 0.01f) {
+            m_vertices.push_back(point.x);
+            m_vertices.push_back(point.y);
+            m_vertices.push_back(point.z);
+
+            // 统计坐标范围
+            if (point.x < minX) minX = point.x;
+            if (point.x > maxX) maxX = point.x;
+            if (point.y < minY) minY = point.y;
+            if (point.y > maxY) maxY = point.y;
+            if (point.z < minZ) minZ = point.z;
+            if (point.z > maxZ) maxZ = point.z;
+        }
+    }
+
+    m_pointCount = m_vertices.size() / 3;
+
+    // 添加调试日志
+    static int updateCount = 0;
+    if (updateCount < 3 || updateCount % 100 == 0) {
+        qDebug() << "[PointCloudGLWidget] Update" << updateCount << "- Points:" << m_pointCount
+                 << "Total cloud size:" << cloud->size();
+        qDebug() << "  X range:" << minX << "to" << maxX;
+        qDebug() << "  Y range:" << minY << "to" << maxY;
+        qDebug() << "  Z range:" << minZ << "to" << maxZ;
+    }
+    updateCount++;
+
+    updateBuffers();
+    update();
+}
+
+void PointCloudGLWidget::updateBuffers()
+{
+    if (m_vertices.empty() || !m_vao || !m_vertexBuffer) {
+        return;
+    }
+
+    makeCurrent();
+
+    m_vao->bind();
+    m_vertexBuffer->bind();
+    m_vertexBuffer->allocate(m_vertices.data(), m_vertices.size() * sizeof(float));
+
+    // 设置顶点属性指针
+    glEnableVertexAttribArray(0);
+    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 3 * sizeof(float), nullptr);
+
+    m_vertexBuffer->release();
+    m_vao->release();
+
+    doneCurrent();
+}

src/gui/PointCloudWidget.cpp

@@ -0,0 +1,56 @@
+#include "gui/PointCloudWidget.h"
+#include "gui/PointCloudGLWidget.h"
+#include <QVBoxLayout>
+#include <QDebug>
+
+PointCloudWidget::PointCloudWidget(QWidget *parent)
+    : QWidget(parent)
+    , m_statusLabel(nullptr)
+    , m_glWidget(nullptr)
+{
+    // 创建布局
+    QVBoxLayout *layout = new QVBoxLayout(this);
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->setSpacing(5);
+
+    // 创建状态标签
+    m_statusLabel = new QLabel("点云显示 (等待数据...)", this);
+    m_statusLabel->setAlignment(Qt::AlignCenter);
+    m_statusLabel->setStyleSheet("QLabel { background-color: #1C1C1C; color: white; font-size: 12px; padding: 5px; }");
+    m_statusLabel->setMaximumHeight(30);
+    layout->addWidget(m_statusLabel);
+
+    // 创建OpenGL点云显示widget
+    m_glWidget = new PointCloudGLWidget(this);
+    layout->addWidget(m_glWidget);
+
+    setLayout(layout);
+
+    qDebug() << "[PointCloudWidget] Embedded OpenGL widget created";
+}
+
+PointCloudWidget::~PointCloudWidget()
+{
+    // OpenGL widget会自动清理
+}
+
+void PointCloudWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
+{
+    if (!cloud || !m_glWidget) {
+        return;
+    }
+
+    // 统计有效点数
+    int validPoints = 0;
+    for (const auto& point : cloud->points) {
+        if (point.z > 0.01f) {
+            validPoints++;
+        }
+    }
+
+    // 更新状态标签
+    m_statusLabel->setText(QString("点云显示 | 有效点数: %1").arg(validPoints));
+
+    // 更新OpenGL显示
+    m_glWidget->updatePointCloud(cloud);
+}