增加启动显示参数

CloudUtils/Src/LaserDataLoader.cpp

@@ -1,6 +1,7 @@
 #include "LaserDataLoader.h"
 #include <algorithm>
 #include <cctype>
+#include <cstdarg>
 #include <cstdio>
 #include <cstdint>
 #include <cstring>
@@ -128,6 +129,34 @@ bool ReadDatLineRecord(std::ifstream& inputFile, int recordSize, DatLineScan3DDa
     std::memcpy(&lineData.lineStepping, buffer + 8, sizeof(lineData.lineStepping));
     return true;
 }
+
+void AppendFormattedLine(std::string& output, const char* format, ...)
+{
+    char stackBuffer[256];
+
+    va_list args;
+    va_start(args, format);
+    va_list argsCopy;
+    va_copy(argsCopy, args);
+    int written = vsnprintf(stackBuffer, sizeof(stackBuffer), format, args);
+    va_end(args);
+
+    if (written < 0) {
+        va_end(argsCopy);
+        return;
+    }
+
+    if (static_cast<size_t>(written) < sizeof(stackBuffer)) {
+        output.append(stackBuffer, static_cast<size_t>(written));
+        va_end(argsCopy);
+        return;
+    }
+
+    std::vector<char> dynamicBuffer(static_cast<size_t>(written) + 1);
+    vsnprintf(dynamicBuffer.data(), dynamicBuffer.size(), format, argsCopy);
+    va_end(argsCopy);
+    output.append(dynamicBuffer.data(), static_cast<size_t>(written));
+}
 }
 
 LaserDataLoader::LaserDataLoader()
@@ -465,11 +494,11 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
         }
         
         // 写入文件头
-        sw << "LineNum:" << lineNum << std::endl;
+        sw << "LineNum:" << lineNum << '\n';
-        sw << "DataType: 0" << std::endl;
+        sw << "DataType: 0" << '\n';
-        sw << "ScanSpeed:" << scanSpeed << std::endl;
+        sw << "ScanSpeed:" << scanSpeed << '\n';
-        sw << "PointAdjust: 1" << std::endl;
+        sw << "PointAdjust: 1" << '\n';
-        sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
+        sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << '\n';
         
         // 写入每条扫描线数据
         for (const auto& linePair : laserLines) {
@@ -477,20 +506,29 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
             EVzResultDataType dataType = linePair.first;
             const SVzLaserLineData& lineData = linePair.second;
             
-            sw << "Line_" << lineData.llFrameIdx << "_" << lineData.llTimeStamp << "_" << lineData.nPointCount << std::endl;
+            sw << "Line_" << lineData.llFrameIdx << "_" << lineData.llTimeStamp << "_" << lineData.nPointCount << '\n';
             
             // 根据数据类型写入点云数据
             if (dataType == keResultDataType_Position && lineData.p3DPoint) {
                 // 写入XYZ格式数据
                 const SVzNL3DPosition* points = static_cast<const SVzNL3DPosition*>(lineData.p3DPoint);
                 const SVzNL2DPosition* points2D = static_cast<const SVzNL2DPosition*>(lineData.p2DPoint);
-                for (int i = 0; i < lineData.nPointCount; i++) {
+                constexpr int BATCH = 256;
-                    float x = static_cast<float>(points[i].pt3D.x);
+                constexpr int PER_POINT = 128;
-                    float y = static_cast<float>(points[i].pt3D.y);
+                for (int base = 0; base < lineData.nPointCount; base += BATCH) {
-                    float z = static_cast<float>(points[i].pt3D.z);
+                    int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
-                    sw << "{ " << std::fixed << std::setprecision(6) << x << "," << y << "," << z << " }-";
+                    std::string buffer;
-                    sw << "{ " << points2D[i].ptLeft2D.x << "," << points2D[i].ptLeft2D.y << " }-";
+                    buffer.reserve(BATCH * PER_POINT);
-                    sw << "{ " << points2D[i].ptRight2D.x << "," << points2D[i].ptRight2D.y << " }" << std::endl;
+                    for (int i = base; i < end; ++i) {
+                        float x = static_cast<float>(points[i].pt3D.x);
+                        float y = static_cast<float>(points[i].pt3D.y);
+                        float z = static_cast<float>(points[i].pt3D.z);
+                        AppendFormattedLine(buffer, "{ %.6f,%.6f,%.6f }-{ %d,%d }-{ %d,%d }\n",
+                                            x, y, z,
+                                            points2D[i].ptLeft2D.x, points2D[i].ptLeft2D.y,
+                                            points2D[i].ptRight2D.x, points2D[i].ptRight2D.y);
+                    }
+                    sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
                 }
             } else if (dataType == keResultDataType_PointXYZI && lineData.p3DPoint) {
                 // LiDAR 点云：snprintf 批量写入，每 256 点 flush
@@ -515,22 +553,27 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
                 // 写入RGBD格式数据
                 const SVzNLPointXYZRGBA* points = static_cast<const SVzNLPointXYZRGBA*>(lineData.p3DPoint);
                 const SVzNL2DLRPoint* points2D = static_cast<const SVzNL2DLRPoint*>(lineData.p2DPoint);
-                for (int i = 0; i < lineData.nPointCount; i++) {
+                constexpr int BATCH = 256;
-                    float x = static_cast<float>(points[i].x);
+                constexpr int PER_POINT = 160;
-                    float y = static_cast<float>(points[i].y);
+                for (int base = 0; base < lineData.nPointCount; base += BATCH) {
-                    float z = static_cast<float>(points[i].z);
+                    int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
-                    int r = (points[i].nRGB >> 16) & 0xFF;
+                    std::string buffer;
-                    int g = (points[i].nRGB >> 8) & 0xFF;
+                    buffer.reserve(BATCH * PER_POINT);
-                    int b = points[i].nRGB & 0xFF;
+                    for (int i = base; i < end; ++i) {
+                        float x = static_cast<float>(points[i].x);
+                        float y = static_cast<float>(points[i].y);
+                        float z = static_cast<float>(points[i].z);
+                        int r = (points[i].nRGB >> 16) & 0xFF;
+                        int g = (points[i].nRGB >> 8) & 0xFF;
+                        int b = points[i].nRGB & 0xFF;
 
-                    sw << "{" << std::fixed << std::setprecision(6) << x << ","
+                        AppendFormattedLine(buffer, "{%.6f,%.6f,%.6f,%.6f,%.6f,%.6f}-{ %d,%d }-{ %d,%d }\n",
-                         << std::fixed << std::setprecision(6) << y << ","
+                                            x, y, z,
-                         << std::fixed << std::setprecision(6) << z << ","
+                                            b * 1.0f / 255, g * 1.0f / 255, r * 1.0f / 255,
-                         << std::fixed << std::setprecision(6) << b * 1.0f / 255 << ","
+                                            points2D[i].sLeft.x, points2D[i].sLeft.y,
-                         << std::fixed << std::setprecision(6) << g * 1.0f / 255 << ","
+                                            points2D[i].sRight.x, points2D[i].sRight.y);
-                         << std::fixed << std::setprecision(6) << r * 1.0f / 255 << "}-";
+                    }
-                    sw << "{ " << points2D[i].sLeft.x << "," << points2D[i].sLeft.y << " }-";
+                    sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
-                    sw << "{ " << points2D[i].sRight.x << "," << points2D[i].sRight.y << " }" << std::endl;
                 }
             }
         }
@@ -570,11 +613,11 @@ int LaserDataLoader::DebugSaveLaser(std::string fileName, std::vector<std::vecto
         }
 
         // 写入文件头
-        sw << "LineNum:" << xyzData.size() << std::endl;
+        sw << "LineNum:" << xyzData.size() << '\n';
-        sw << "DataType: 0" << std::endl;
+        sw << "DataType: 0" << '\n';
-        sw << "ScanSpeed:" << 0 << std::endl;
+        sw << "ScanSpeed:" << 0 << '\n';
-        sw << "PointAdjust: 1" << std::endl;
+        sw << "PointAdjust: 1" << '\n';
-        sw << "MaxTimeStamp:" << 0 << "_" << 0 << std::endl;
+        sw << "MaxTimeStamp:" << 0 << "_" << 0 << '\n';
 
         const size_t totalLines = xyzData.size();
         int index = 0;
@@ -587,19 +630,25 @@ int LaserDataLoader::DebugSaveLaser(std::string fileName, std::vector<std::vecto
                 return ERR_CODE(DEV_ARG_INVAILD);
             }
 
-            sw << "Line_" << index << "_" << 0 << "_" << linePair.size() << std::endl;
+            sw << "Line_" << index << "_" << 0 << "_" << linePair.size() << '\n';
             // 根据数据类型写入点云数据
-            for(const auto& point : linePair){
+            constexpr int BATCH = 256;
+            constexpr int PER_POINT = 96;
+            for (size_t base = 0; base < linePair.size(); base += BATCH) {
+                size_t end = std::min(base + static_cast<size_t>(BATCH), linePair.size());
+                std::string buffer;
+                buffer.reserve(BATCH * PER_POINT);
+                for (size_t i = base; i < end; ++i) {
+                    const auto& point = linePair[i];
 
                 // 写入XYZ格式数据
-                float x = static_cast<float>(point.pt3D.x);
+                    float x = static_cast<float>(point.pt3D.x);
-                float y = static_cast<float>(point.pt3D.y);
+                    float y = static_cast<float>(point.pt3D.y);
-                float z = static_cast<float>(point.pt3D.z);
+                    float z = static_cast<float>(point.pt3D.z);
-                sw << "{ "
+                    AppendFormattedLine(buffer, "{ %.6f, %.6f, %.6f } - { 0, 0 } - { 0, 0 }\n",
-                    << std::fixed << std::setprecision(6) << x << ", "
+                                        x, y, z);
-                    << std::fixed << std::setprecision(6) << y << ", "
+                }
-                    << std::fixed << std::setprecision(6) << z << " } - ";
+                sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
-                sw << "{ 0, 0 } - { 0, 0 }" << std::endl;
             }
 
             ++index;

CloudView/Inc/CloudViewMainWindow.h

@@ -19,6 +19,7 @@
 #include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
+#include <QStringList>
 #include <memory>
 
 #include "PointCloudGLWidget.h"
@@ -26,6 +27,7 @@
 
 class QTextEdit;
 class QTableWidget;
+class QCloseEvent;
 
 /**
  * @brief 点云查看器主窗口
@@ -36,11 +38,52 @@ class CloudViewMainWindow : public QMainWindow
     Q_OBJECT
 
 public:
+    struct StartupFiles
+    {
+        QStringList displayFiles;
+        QStringList bboxFiles;
+        QStringList circleFiles;
+        QStringList rectangleFiles;
+        QStringList surfaceFiles;
+        QStringList triangleFiles;
+        bool sequential = false;
+    };
+
     explicit CloudViewMainWindow(QWidget* parent = nullptr);
     ~CloudViewMainWindow() override;
 
+    bool loadStartupFiles(const StartupFiles& files);
+    bool loadDisplayFile(const QString& fileName);
+    bool loadCircleShapeFile(const QString& fileName);
+    bool loadRectangleShapeFile(const QString& fileName);
+    bool loadSurfaceShapeFile(const QString& fileName);
+    bool loadTriangleShapeFile(const QString& fileName);
+    void fitViewToContent();
+
 protected:
     bool eventFilter(QObject* obj, QEvent* event) override;
+    void closeEvent(QCloseEvent* event) override;
+
+private:
+    enum class StartupFileType
+    {
+        Display,
+        BBox,
+        Circle,
+        Rectangle,
+        Surface,
+        Triangle
+    };
+
+    struct StartupItem
+    {
+        StartupFileType type;
+        QString fileName;
+    };
+
+    void buildStartupSequence(const StartupFiles& files);
+    bool loadStartupItem(const StartupItem& item);
+    bool loadCurrentStartupSequenceItem();
 
 private slots:
     /**
@@ -169,6 +212,10 @@ private slots:
     void onSavePlyPcdCloud();      // 保存 ply/pcd 点云
     void onBatchConvertTxtToPly(); // 批量转换 txt -> ply
     void onConvertEulerMatrix();
+    void onShowCircleShape();
+    void onShowRectangleShape();
+    void onShowSurfaceShape();
+    void onShowTriangleShape();
 
     /**
      * @brief 姿态补偿计算
@@ -260,6 +307,8 @@ private:
     bool loadBoundingBoxFile(const QString& fileName);
     void applyTransformToAllClouds(const QMatrix4x4& matrix);
     void addGeneratedCloud(const PointCloudXYZ& cloud, const QString& name);
+    void showBasicShape(const QString& shapeName, const QVector<LineSegment>& segments);
+    void showBasicSurface(const QString& shapeName, const QVector<SurfaceQuad>& surfaces, const QVector<LineSegment>& outlines);
 
     // 点云显示控件
     PointCloudGLWidget* m_glWidget;
@@ -269,7 +318,6 @@ private:
 
     // 文件操作控件
     QPushButton* m_btnOpenFile;
-    QPushButton* m_btnOpenPose;
     QPushButton* m_btnOpenBBox;
     QPushButton* m_btnClearAll;
 
@@ -354,6 +402,11 @@ private:
     // 悬浮缩放按钮
     QToolButton* m_btnZoomIn;
     QToolButton* m_btnZoomOut;
+
+    // 启动参数序列显示
+    QVector<StartupItem> m_startupSequence;
+    int m_startupSequenceIndex;
+    bool m_startupSequentialMode;
 };
 
 #endif // CLOUD_VIEW_MAIN_WINDOW_H

CloudView/Inc/PointCloudGLWidget.h

@@ -96,6 +96,26 @@ struct LineSegment
         : x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b), lineWidth(_lw) {}
 };
 
+/**
+ * @brief 面片数据
+ */
+struct SurfaceQuad
+{
+    QVector3D p1, p2, p3, p4;
+    float r, g, b, a;
+
+    SurfaceQuad() : p1(), p2(), p3(), p4(), r(0.0f), g(0.8f), b(1.0f), a(0.5f) {}
+    SurfaceQuad(const QVector3D& _p1,
+                const QVector3D& _p2,
+                const QVector3D& _p3,
+                const QVector3D& _p4,
+                float _r = 0.0f,
+                float _g = 0.8f,
+                float _b = 1.0f,
+                float _a = 0.5f)
+        : p1(_p1), p2(_p2), p3(_p3), p4(_p4), r(_r), g(_g), b(_b), a(_a) {}
+};
+
 /**
  * @brief 姿态点数据
  *
@@ -137,6 +157,7 @@ public:
     void setPointCloudColor(PointCloudColor color);
     void setPointSize(float size);
     void resetView();
+    void fitToContent();
     void zoomIn();
     void zoomOut();
     /**
@@ -269,6 +290,26 @@ public:
      */
     void clearLineSegments();
 
+    /**
+     * @brief 设置基础图形线段
+     */
+    void setBasicShapeSegments(const QVector<LineSegment>& segments);
+
+    /**
+     * @brief 追加基础图形线段
+     */
+    void appendBasicShapeSegments(const QVector<LineSegment>& segments);
+
+    /**
+     * @brief 追加基础图形面片
+     */
+    void appendBasicShapeSurfaces(const QVector<SurfaceQuad>& surfaces);
+
+    /**
+     * @brief 清除基础图形线段
+     */
+    void clearBasicShapeSegments();
+
     /**
      * @brief 添加姿态点
      */
@@ -398,6 +439,9 @@ private:
     void drawAxis();
     void drawSelectedLine();     // 绘制选中的线
     void drawLineSegments();     // 绘制线段
+    void drawBasicShapeSurfaces(); // 绘制基础图形面片
+    void drawBasicShapeSegments(); // 绘制基础图形
+    void drawLineSegmentList(const QVector<LineSegment>& segments);
     void drawPosePoints();       // 绘制姿态点
     void drawAxisLabels();       // 绘制坐标轴 XYZ 标注
     void uploadToVBO(PointCloudData& data);    // 上传数据到 VBO
@@ -443,6 +487,8 @@ private:
 
     // 线段和姿态点数据
     QVector<LineSegment> m_lineSegments;
+    QVector<LineSegment> m_basicShapeSegments;
+    QVector<SurfaceQuad> m_basicShapeSurfaces;
     QVector<PosePoint> m_posePoints;
 };
 

CloudView/Src/PointCloudGLWidget.cpp

@@ -228,6 +228,8 @@ void PointCloudGLWidget::paintGL()
     drawMeasurementLine();
     drawSelectedLine();
     drawLineSegments();
+    drawBasicShapeSurfaces();
+    drawBasicShapeSegments();
     drawPosePoints();
 
     // 最后绘制坐标系指示器（覆盖在所有内容之上）
@@ -450,6 +452,8 @@ void PointCloudGLWidget::clearPointClouds()
     m_selectedPoints.clear();
     m_selectedLine = SelectedLineInfo();
     m_lineSegments.clear();
+    m_basicShapeSegments.clear();
+    m_basicShapeSurfaces.clear();
     m_posePoints.clear();
     m_minBound = QVector3D(-50, -50, -50);
     m_maxBound = QVector3D(50, 50, 50);
@@ -494,6 +498,12 @@ void PointCloudGLWidget::resetView()
     update();
 }
 
+void PointCloudGLWidget::fitToContent()
+{
+    computeBoundingBox();
+    resetView();
+}
+
 void PointCloudGLWidget::zoomIn()
 {
     m_distance *= 0.9f;
@@ -847,31 +857,59 @@ size_t PointCloudGLWidget::getAllCloudsByLines(std::vector<std::vector<SVzNL3DPo
 
 void PointCloudGLWidget::computeBoundingBox()
 {
-    if (m_pointClouds.empty()) {
+    float minX = FLT_MAX, minY = FLT_MAX, minZ = FLT_MAX;
+    float maxX = -FLT_MAX, maxY = -FLT_MAX, maxZ = -FLT_MAX;
+    bool hasContent = false;
+
+    auto includePoint = [&](float x, float y, float z) {
+        minX = qMin(minX, x);
+        minY = qMin(minY, y);
+        minZ = qMin(minZ, z);
+        maxX = qMax(maxX, x);
+        maxY = qMax(maxY, y);
+        maxZ = qMax(maxZ, z);
+        hasContent = true;
+    };
+
+    auto includeSegment = [&](const LineSegment& segment) {
+        includePoint(segment.x1, segment.y1, segment.z1);
+        includePoint(segment.x2, segment.y2, segment.z2);
+    };
+
+    for (const auto& cloudData : m_pointClouds) {
+        for (size_t i = 0; i < cloudData.vertices.size(); i += 3) {
+            includePoint(cloudData.vertices[i], cloudData.vertices[i + 1], cloudData.vertices[i + 2]);
+        }
+    }
+
+    for (const LineSegment& segment : m_lineSegments) {
+        includeSegment(segment);
+    }
+
+    for (const LineSegment& segment : m_basicShapeSegments) {
+        includeSegment(segment);
+    }
+
+    for (const SurfaceQuad& surface : m_basicShapeSurfaces) {
+        includePoint(surface.p1.x(), surface.p1.y(), surface.p1.z());
+        includePoint(surface.p2.x(), surface.p2.y(), surface.p2.z());
+        includePoint(surface.p3.x(), surface.p3.y(), surface.p3.z());
+        includePoint(surface.p4.x(), surface.p4.y(), surface.p4.z());
+    }
+
+    for (const PosePoint& pose : m_posePoints) {
+        const float scale = qMax(0.0f, pose.scale);
+        includePoint(pose.x - scale, pose.y - scale, pose.z - scale);
+        includePoint(pose.x + scale, pose.y + scale, pose.z + scale);
+    }
+
+    if (!hasContent) {
         m_minBound = QVector3D(-50, -50, -50);
         m_maxBound = QVector3D(50, 50, 50);
         m_center = QVector3D(0, 0, 0);
         return;
     }
 
-    float minX = FLT_MAX, minY = FLT_MAX, minZ = FLT_MAX;
-    float maxX = -FLT_MAX, maxY = -FLT_MAX, maxZ = -FLT_MAX;
-
-    for (const auto& cloudData : m_pointClouds) {
-        for (size_t i = 0; i < cloudData.vertices.size(); i += 3) {
-            float x = cloudData.vertices[i];
-            float y = cloudData.vertices[i + 1];
-            float z = cloudData.vertices[i + 2];
-
-            minX = qMin(minX, x);
-            minY = qMin(minY, y);
-            minZ = qMin(minZ, z);
-            maxX = qMax(maxX, x);
-            maxY = qMax(maxY, y);
-            maxZ = qMax(maxZ, z);
-        }
-    }
-
     m_minBound = QVector3D(minX, minY, minZ);
     m_maxBound = QVector3D(maxX, maxY, maxZ);
     m_center = (m_minBound + m_maxBound) / 2.0f;
@@ -1539,6 +1577,43 @@ void PointCloudGLWidget::clearLineSegments()
     update();
 }
 
+void PointCloudGLWidget::setBasicShapeSegments(const QVector<LineSegment>& segments)
+{
+    m_basicShapeSegments = segments;
+    update();
+}
+
+void PointCloudGLWidget::appendBasicShapeSegments(const QVector<LineSegment>& segments)
+{
+    if (segments.isEmpty()) {
+        return;
+    }
+
+    for (const LineSegment& segment : segments) {
+        m_basicShapeSegments.append(segment);
+    }
+    update();
+}
+
+void PointCloudGLWidget::appendBasicShapeSurfaces(const QVector<SurfaceQuad>& surfaces)
+{
+    if (surfaces.isEmpty()) {
+        return;
+    }
+
+    for (const SurfaceQuad& surface : surfaces) {
+        m_basicShapeSurfaces.append(surface);
+    }
+    update();
+}
+
+void PointCloudGLWidget::clearBasicShapeSegments()
+{
+    m_basicShapeSegments.clear();
+    m_basicShapeSurfaces.clear();
+    update();
+}
+
 void PointCloudGLWidget::addPosePoints(const QVector<PosePoint>& poses)
 {
     m_posePoints.append(poses);
@@ -1553,15 +1628,49 @@ void PointCloudGLWidget::clearPosePoints()
 
 void PointCloudGLWidget::drawLineSegments()
 {
-    if (m_lineSegments.isEmpty()) {
+    drawLineSegmentList(m_lineSegments);
+}
+
+void PointCloudGLWidget::drawBasicShapeSurfaces()
+{
+    if (m_basicShapeSurfaces.isEmpty()) {
+        return;
+    }
+
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+    glDepthMask(GL_FALSE);
+
+    glBegin(GL_QUADS);
+    for (const SurfaceQuad& surface : m_basicShapeSurfaces) {
+        glColor4f(surface.r, surface.g, surface.b, surface.a);
+        glVertex3f(surface.p1.x(), surface.p1.y(), surface.p1.z());
+        glVertex3f(surface.p2.x(), surface.p2.y(), surface.p2.z());
+        glVertex3f(surface.p3.x(), surface.p3.y(), surface.p3.z());
+        glVertex3f(surface.p4.x(), surface.p4.y(), surface.p4.z());
+    }
+    glEnd();
+
+    glDepthMask(GL_TRUE);
+    glDisable(GL_BLEND);
+}
+
+void PointCloudGLWidget::drawBasicShapeSegments()
+{
+    drawLineSegmentList(m_basicShapeSegments);
+}
+
+void PointCloudGLWidget::drawLineSegmentList(const QVector<LineSegment>& segments)
+{
+    if (segments.isEmpty()) {
         return;
     }
 
     // 按线宽分组绘制
     // 收集所有不同的线宽值（0 表示默认 2.0f）
     std::map<float, QVector<int>> widthGroups;
-    for (int i = 0; i < m_lineSegments.size(); ++i) {
+    for (int i = 0; i < segments.size(); ++i) {
-        float w = m_lineSegments[i].lineWidth > 0 ? m_lineSegments[i].lineWidth : 2.0f;
+        float w = segments[i].lineWidth > 0 ? segments[i].lineWidth : 2.0f;
         widthGroups[w].append(i);
     }
 
@@ -1569,7 +1678,7 @@ void PointCloudGLWidget::drawLineSegments()
         glLineWidth(group.first);
         glBegin(GL_LINES);
         for (int idx : group.second) {
-            const auto& seg = m_lineSegments[idx];
+            const auto& seg = segments[idx];
             glColor3f(seg.r, seg.g, seg.b);
             glVertex3f(seg.x1, seg.y1, seg.z1);
             glVertex3f(seg.x2, seg.y2, seg.z2);

CloudView/Version.md

@@ -1,3 +1,17 @@
+# 1.2.0
+- 增加基础图像的显示
+
+# 1.1.6
+ - 增加批量点云txt->ply的保存
+
+# 1.1.5
+- 增加了ply点云保存
+
+# 1.1.4 
+- 增加了矩阵转换
+- 增加了生成点云
+- 增加了视角范围(为了显示雷达点云)
+
 # 1.1.3
 - 修复崩溃
 - 修复选点序号不对

CloudView/main.cpp

@@ -1,9 +1,11 @@
 #include <QApplication>
 #include <QSurfaceFormat>
 #include <QIcon>
+#include <QCommandLineParser>
+#include <QTimer>
 #include "CloudViewMainWindow.h"
 
-#define APP_VERSION "1.1.6"
+#define APP_VERSION "1.2.0"
 
 int main(int argc, char* argv[])
 {
@@ -22,6 +24,59 @@ int main(int argc, char* argv[])
     app.setOrganizationName("CloudView");
     app.setApplicationVersion(APP_VERSION);
 
+    QCommandLineParser parser;
+    parser.setApplicationDescription("CloudView point cloud and shape viewer");
+    parser.addHelpOption();
+    parser.addVersionOption();
+
+    QCommandLineOption cloudOption(
+        QStringList() << "cloud" << "point-cloud",
+        "Load a point cloud or segment file. Positional files are treated the same way.",
+        "file");
+    QCommandLineOption bboxOption(
+        QStringList() << "bbox",
+        "Load a bounding-box JSON file.",
+        "file");
+    QCommandLineOption circleOption(
+        QStringList() << "circle",
+        "Load a circle data file. Row format: {x,y,z}-{r,p,y}-{radius}.",
+        "file");
+    QCommandLineOption rectangleOption(
+        QStringList() << "rectangle",
+        "Load a rectangle data file. Row format: {x,y,z}-{r,p,y}-{width,height}.",
+        "file");
+    QCommandLineOption surfaceOption(
+        QStringList() << "surface",
+        "Load a surface data file. Row format: {x,y,z}-{length,width} or {x,y,z}-{r,p,y}-{length,width}.",
+        "file");
+    QCommandLineOption triangleOption(
+        QStringList() << "triangle",
+        "Load a triangle data file. Row format: {x,y,z}-{x,y,z}-{x,y,z}.",
+        "file");
+    QCommandLineOption sequenceOption(
+        QStringList() << "sequence" << "sequential",
+        "Display startup files one at a time. Closing the window loads the next file.");
+
+    parser.addOption(cloudOption);
+    parser.addOption(bboxOption);
+    parser.addOption(circleOption);
+    parser.addOption(rectangleOption);
+    parser.addOption(surfaceOption);
+    parser.addOption(triangleOption);
+    parser.addOption(sequenceOption);
+    parser.addPositionalArgument("files", "Point cloud or segment files to load.");
+    parser.process(app);
+
+    CloudViewMainWindow::StartupFiles startupFiles;
+    startupFiles.displayFiles = parser.values(cloudOption);
+    startupFiles.displayFiles.append(parser.positionalArguments());
+    startupFiles.bboxFiles = parser.values(bboxOption);
+    startupFiles.circleFiles = parser.values(circleOption);
+    startupFiles.rectangleFiles = parser.values(rectangleOption);
+    startupFiles.surfaceFiles = parser.values(surfaceOption);
+    startupFiles.triangleFiles = parser.values(triangleOption);
+    startupFiles.sequential = parser.isSet(sequenceOption);
+
     // 设置应用程序图标
     app.setWindowIcon(QIcon(":/logo.png"));
 
@@ -31,5 +86,9 @@ int main(int argc, char* argv[])
     mainWindow.resize(1280, 720);
     mainWindow.show();
 
+    QTimer::singleShot(0, &mainWindow, [&mainWindow, startupFiles]() {
+        mainWindow.loadStartupFiles(startupFiles);
+    });
+
     return app.exec();
 }