feat(CloudView): 添加机械臂视角选项

feat(CloudUtils): 为点云图像生成添加旋转功能

.gitignore

@@ -27,6 +27,7 @@ Release/
 build/
 build-*/
 *-build-*/
+**/TestData
 
 # IDE 配置文件
 .vscode/

CloudUtils/Inc/PointCloudImageUtils.h

@@ -94,12 +94,16 @@ public:
 
     // 点云灰度图生成 - 灰色着色 + 自适应点大小填充扫描线间隙（通用接口）
     static QImage GenerateHeatmapImage(
-        const std::vector<std::vector<SVzNL3DPosition>>& scanLines);
+        const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
+        double rotateX_deg = 0.0,
+        double rotateY_deg = 0.0);
 
     // 孔洞检测图像生成 - 热力图底图 + 孔洞标记
     static QImage GenerateHoleDetectionImage(
         const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
-        const std::vector<HoleMarkerInfo>& holes);
+        const std::vector<HoleMarkerInfo>& holes,
+        double rotateX_deg = 0.0,
+        double rotateY_deg = 0.0);
 
 private:
     // 定义线特征颜色和大小获取函数

CloudUtils/Src/PointCloudImageUtils.cpp

@@ -1333,21 +1333,57 @@ int PointCloudImageUtils::GenerateDepthImage(
 }
 
 QImage PointCloudImageUtils::GenerateHeatmapImage(
-    const std::vector<std::vector<SVzNL3DPosition>>& scanLines)
+    const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
+    double rotateX_deg,
+    double rotateY_deg)
 {
     if (scanLines.empty()) {
         return QImage();
     }
 
+    // 预计算旋转参数
+    double cosX = cos(rotateX_deg * PI / 180.0);
+    double sinX = sin(rotateX_deg * PI / 180.0);
+    double cosY = cos(rotateY_deg * PI / 180.0);
+    double sinY = sin(rotateY_deg * PI / 180.0);
+    bool needRotate = (fabs(rotateX_deg) > 1e-6 || fabs(rotateY_deg) > 1e-6);
+
+    // 旋转点的 lambda：先绕X旋转，再绕Y旋转
+    auto rotatePoint = [&](double x, double y, double z, double& rx, double& ry, double& rz) {
+        // 绕X旋转
+        double y1 = y * cosX - z * sinX;
+        double z1 = y * sinX + z * cosX;
+        // 绕Y旋转
+        rx = x * cosY + z1 * sinY;
+        ry = y1;
+        rz = -x * sinY + z1 * cosY;
+    };
+
     // 固定图像尺寸
     int imgRows = 992;
     int imgCols = 1056;
     int x_skip = 50;
     int y_skip = 50;
 
-    // 计算 XY 范围（复用已有方法）
+    // 计算 XY 范围（考虑旋转后的坐标）
     double xMin, xMax, yMin, yMax;
+    if (!needRotate) {
         CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
+    } else {
+        xMin = yMin = std::numeric_limits<double>::max();
+        xMax = yMax = -std::numeric_limits<double>::max();
+        for (const auto& scanLine : scanLines) {
+            for (const auto& point : scanLine) {
+                if (point.pt3D.z < 1e-4) continue;
+                double rx, ry, rz;
+                rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
+                if (rx < xMin) xMin = rx;
+                if (rx > xMax) xMax = rx;
+                if (ry < yMin) yMin = ry;
+                if (ry > yMax) yMax = ry;
+            }
+        }
+    }
 
     if (xMax <= xMin || yMax <= yMin) {
         return QImage();
@@ -1385,8 +1421,19 @@ QImage PointCloudImageUtils::GenerateHeatmapImage(
         for (const auto& point : scanLine) {
             if (point.pt3D.z < 1e-4) continue;
 
-            int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip);
+            double projX, projY;
-            int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip);
+            if (needRotate) {
+                double rx, ry, rz;
+                rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
+                projX = rx;
+                projY = ry;
+            } else {
+                projX = point.pt3D.x;
+                projY = point.pt3D.y;
+            }
+
+            int px = (int)((projX - xMin) / x_scale + x_skip);
+            int py = (int)((projY - yMin) / y_scale + y_skip);
 
             if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
                 painter.fillRect(px, py, pointSize, pointSize, grayColor);
@@ -1399,23 +1446,56 @@ QImage PointCloudImageUtils::GenerateHeatmapImage(
 
 QImage PointCloudImageUtils::GenerateHoleDetectionImage(
     const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
-    const std::vector<HoleMarkerInfo>& holes)
+    const std::vector<HoleMarkerInfo>& holes,
+    double rotateX_deg,
+    double rotateY_deg)
 {
-    // 先生成热力图底图
+    // 先生成热力图底图（透传旋转参数）
-    QImage image = GenerateHeatmapImage(scanLines);
+    QImage image = GenerateHeatmapImage(scanLines, rotateX_deg, rotateY_deg);
     if (image.isNull() || holes.empty()) {
         return image;
     }
 
+    // 预计算旋转参数（用于孔洞中心坐标变换）
+    double cosX = cos(rotateX_deg * PI / 180.0);
+    double sinX = sin(rotateX_deg * PI / 180.0);
+    double cosY = cos(rotateY_deg * PI / 180.0);
+    double sinY = sin(rotateY_deg * PI / 180.0);
+    bool needRotate = (fabs(rotateX_deg) > 1e-6 || fabs(rotateY_deg) > 1e-6);
+
+    auto rotatePoint = [&](double x, double y, double z, double& rx, double& ry, double& rz) {
+        double y1 = y * cosX - z * sinX;
+        double z1 = y * sinX + z * cosX;
+        rx = x * cosY + z1 * sinY;
+        ry = y1;
+        rz = -x * sinY + z1 * cosY;
+    };
+
     // 固定图像尺寸（与 GenerateHeatmapImage 一致）
     int imgRows = 992;
     int imgCols = 1056;
     int x_skip = 50;
     int y_skip = 50;
 
-    // 重新计算投影参数（与底图一致）
+    // 重新计算投影参数（与底图一致，需要旋转后的范围）
     double xMin, xMax, yMin, yMax;
+    if (!needRotate) {
         CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
+    } else {
+        xMin = yMin = std::numeric_limits<double>::max();
+        xMax = yMax = -std::numeric_limits<double>::max();
+        for (const auto& scanLine : scanLines) {
+            for (const auto& point : scanLine) {
+                if (point.pt3D.z < 1e-4) continue;
+                double rx, ry, rz;
+                rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
+                if (rx < xMin) xMin = rx;
+                if (rx > xMax) xMax = rx;
+                if (ry < yMin) yMin = ry;
+                if (ry > yMax) yMax = ry;
+            }
+        }
+    }
 
     double y_rows = (double)(imgRows - y_skip * 2);
     double x_cols = (double)(imgCols - x_skip * 2);
@@ -1441,8 +1521,19 @@ QImage PointCloudImageUtils::GenerateHoleDetectionImage(
             continue;
         }
 
-        int px = (int)((hole.center.x - xMin) / x_scale + x_skip);
+        double projX, projY;
-        int py = (int)((hole.center.y - yMin) / y_scale + y_skip);
+        if (needRotate) {
+            double rx, ry, rz;
+            rotatePoint(hole.center.x, hole.center.y, hole.center.z, rx, ry, rz);
+            projX = rx;
+            projY = ry;
+        } else {
+            projX = hole.center.x;
+            projY = hole.center.y;
+        }
+
+        int px = (int)((projX - xMin) / x_scale + x_skip);
+        int py = (int)((projY - yMin) / y_scale + y_skip);
 
         if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
             // 将物理半径转换为像素半径

CloudView/Src/CloudViewMainWindow.cpp

@@ -248,6 +248,7 @@ QWidget* CloudViewMainWindow::createViewToolbar()
         {":/common/resource/view_right.png",  "右视",          180.0f,  -90.0f,   0.0f},
         {":/common/resource/view_top.png",    "俯视 (XZ面)",    90.0f,    0.0f,   0.0f},
         {":/common/resource/view_bottom.png", "仰视",          -90.0f,    0.0f,   0.0f},
+        {":/common/resource/view_robot.png",  "机械臂",         -90.0f,   90.0f,   0.0f},
     };
 
     int btnSize = 32;

CloudView/Version.md

@@ -0,0 +1,7 @@
+# 1.1.3
+- 修复崩溃
+- 修复选点序号不对
+- 视图修改为左侧
+
+# 1.1.2
+- 线回撤选中