CloudView优化控制

CloudView/Inc/CloudViewMainWindow.h

@@ -84,6 +84,16 @@ private slots:
      */
     void onLineSelected(const SelectedLineInfo& line);
 
+    /**
+     * @brief 点1坐标编辑完成（回车）
+     */
+    void onPoint1CoordChanged();
+
+    /**
+     * @brief 点2坐标编辑完成（回车）
+     */
+    void onPoint2CoordChanged();
+
     /**
      * @brief 处理视角旋转角度改变事件
      */
@@ -255,6 +265,16 @@ private:
     QLabel* m_lblPoint2;
     QLabel* m_lblDistance;
 
+    // 点1坐标编辑控件
+    QLineEdit* m_editPoint1X;
+    QLineEdit* m_editPoint1Y;
+    QLineEdit* m_editPoint1Z;
+
+    // 点2坐标编辑控件
+    QLineEdit* m_editPoint2X;
+    QLineEdit* m_editPoint2Y;
+    QLineEdit* m_editPoint2Z;
+
     // 点1姿态输入控件
     QLineEdit* m_editRx1;
     QLineEdit* m_editRy1;

CloudView/Inc/PointCloudGLWidget.h

@@ -6,6 +6,7 @@
 #include <QOpenGLBuffer>
 #include <QMatrix4x4>
 #include <QVector3D>
+#include <QQuaternion>
 #include <QMouseEvent>
 #include <QWheelEvent>
 #include <vector>
@@ -150,6 +151,15 @@ public:
     void clearSelectedLine();
     float calculateDistance(const SelectedPointInfo& p1, const SelectedPointInfo& p2);
 
+    /**
+     * @brief 更新选中点的坐标
+     * @param index 点索引（0或1）
+     * @param x 新的X坐标
+     * @param y 新的Y坐标
+     * @param z 新的Z坐标
+     */
+    void updateSelectedPointCoord(int index, float x, float y, float z);
+
     /**
      * @brief 通过线索引选择线（纵向）
      */
@@ -372,6 +382,7 @@ private:
     float m_rotationX;
     float m_rotationY;
     float m_rotationZ;
+    QQuaternion m_rotation;  // 使用四元数存储旋转状态
     QVector3D m_center;
     QVector3D m_pan;
     QVector3D m_minBound;

CloudView/Src/CloudViewMainWindow.cpp

@@ -163,13 +163,15 @@ QGroupBox* CloudViewMainWindow::createViewGroup()
         float rotZ;
     };
 
+    // 坐标系定义：X向右，Y向下，Z朝后
+    // 正视图：看XY平面，Z轴朝后
     ViewPreset presets[] = {
-        {"正视",    0.0f,    0.0f,   0.0f},
+        {"正视",    0.0f,    0.0f,   0.0f},    // 看XY平面，Z朝后
-        {"后视",    0.0f,  180.0f,   0.0f},
+        {"后视",    0.0f,  180.0f,   0.0f},    // 看XY平面，Z朝前
-        {"左侧",    0.0f,  -90.0f,   0.0f},
+        {"左侧",    0.0f,   90.0f,   0.0f},    // 看YZ平面，X朝前
-        {"右侧",    0.0f,   90.0f,   0.0f},
+        {"右侧",    0.0f,  -90.0f,   0.0f},    // 看YZ平面，X朝后
-        {"俯视",  -90.0f,    0.0f,   0.0f},
+        {"俯视",   90.0f,    0.0f,   0.0f},    // 看XZ平面，Y朝后
-        {"仰视",   90.0f,    0.0f,   0.0f},
+        {"仰视",  -90.0f,    0.0f,   0.0f},    // 看XZ平面，Y朝前
     };
 
     QHBoxLayout* btnLayout = new QHBoxLayout();
@@ -230,7 +232,7 @@ QGroupBox* CloudViewMainWindow::createViewGroup()
     QPushButton* btnApply = new QPushButton("应用", group);
     btnApply->setMaximumWidth(50);
     btnApply->setMaximumHeight(24);
-    connect(btnApply, &QPushButton::clicked, this, [this]() {
+    auto applyAngles = [this]() {
         bool okX, okY, okZ;
         float rotX = m_editRotX->text().toFloat(&okX);
         float rotY = m_editRotY->text().toFloat(&okY);
@@ -238,9 +240,15 @@ QGroupBox* CloudViewMainWindow::createViewGroup()
         if (okX && okY && okZ) {
             m_glWidget->setViewAngles(rotX, rotY, rotZ);
         }
-    });
+    };
+    connect(btnApply, &QPushButton::clicked, this, applyAngles);
     angleGrid->addWidget(btnApply, 0, 6);
 
+    // 连接回车信号到应用功能
+    connect(m_editRotX, &QLineEdit::returnPressed, this, applyAngles);
+    connect(m_editRotY, &QLineEdit::returnPressed, this, applyAngles);
+    connect(m_editRotZ, &QLineEdit::returnPressed, this, applyAngles);
+
     mainLayout->addLayout(angleGrid);
 
     return group;
@@ -329,6 +337,14 @@ QWidget* CloudViewMainWindow::createLinePage()
     btnLayout->addWidget(m_btnClearLine2);
     inputLayout->addLayout(btnLayout);
 
+    // 连接输入线段坐标框的回车信号
+    connect(m_editLineX1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
+    connect(m_editLineY1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
+    connect(m_editLineZ1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
+    connect(m_editLineX2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
+    connect(m_editLineY2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
+    connect(m_editLineZ2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowInputLine);
+
     layout->addWidget(inputLineGroup);
     layout->addStretch();
     return page;
@@ -356,6 +372,12 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
         m_lblPoint1->setText("点1: --");
         m_lblPoint2->setText("点2: --");
         m_lblDistance->setText("--");
+        m_editPoint1X->setText("--");
+        m_editPoint1Y->setText("--");
+        m_editPoint1Z->setText("--");
+        m_editPoint2X->setText("--");
+        m_editPoint2Y->setText("--");
+        m_editPoint2Z->setText("--");
     });
     layout->addWidget(m_cbMeasureDistance);
 
@@ -377,6 +399,34 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
     m_lblPoint1->setStyleSheet("font-weight: bold; font-size: 11px;");
     layout->addWidget(m_lblPoint1);
 
+    // 点1坐标编辑（可修改）
+    QHBoxLayout* coord1Layout = new QHBoxLayout();
+    coord1Layout->setSpacing(5);
+    coord1Layout->addWidget(new QLabel("X:", group));
+    m_editPoint1X = new QLineEdit("--", group);
+    m_editPoint1X->setMaximumWidth(70);
+    m_editPoint1X->setMaximumHeight(24);
+    coord1Layout->addWidget(m_editPoint1X);
+
+    coord1Layout->addWidget(new QLabel("Y:", group));
+    m_editPoint1Y = new QLineEdit("--", group);
+    m_editPoint1Y->setMaximumWidth(70);
+    m_editPoint1Y->setMaximumHeight(24);
+    coord1Layout->addWidget(m_editPoint1Y);
+
+    coord1Layout->addWidget(new QLabel("Z:", group));
+    m_editPoint1Z = new QLineEdit("--", group);
+    m_editPoint1Z->setMaximumWidth(70);
+    m_editPoint1Z->setMaximumHeight(24);
+    coord1Layout->addWidget(m_editPoint1Z);
+    coord1Layout->addStretch();
+    layout->addLayout(coord1Layout);
+
+    // 连接回车信号
+    connect(m_editPoint1X, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint1CoordChanged);
+    connect(m_editPoint1Y, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint1CoordChanged);
+    connect(m_editPoint1Z, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint1CoordChanged);
+
     // 点1姿态输入（紧凑布局）
     QHBoxLayout* pose1Layout = new QHBoxLayout();
     pose1Layout->setSpacing(5);
@@ -402,6 +452,11 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
     connect(m_btnShowPose1, &QPushButton::clicked, this, &CloudViewMainWindow::onShowPose1);
     layout->addWidget(m_btnShowPose1);
 
+    // 连接姿态输入框的回车信号
+    connect(m_editRx1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose1);
+    connect(m_editRy1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose1);
+    connect(m_editRz1, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose1);
+
     // 分隔线
     QFrame* line2 = new QFrame(group);
     line2->setFrameShape(QFrame::HLine);
@@ -414,6 +469,34 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
     m_lblPoint2->setStyleSheet("font-weight: bold; font-size: 11px;");
     layout->addWidget(m_lblPoint2);
 
+    // 点2坐标编辑（可修改）
+    QHBoxLayout* coord2Layout = new QHBoxLayout();
+    coord2Layout->setSpacing(5);
+    coord2Layout->addWidget(new QLabel("X:", group));
+    m_editPoint2X = new QLineEdit("--", group);
+    m_editPoint2X->setMaximumWidth(70);
+    m_editPoint2X->setMaximumHeight(24);
+    coord2Layout->addWidget(m_editPoint2X);
+
+    coord2Layout->addWidget(new QLabel("Y:", group));
+    m_editPoint2Y = new QLineEdit("--", group);
+    m_editPoint2Y->setMaximumWidth(70);
+    m_editPoint2Y->setMaximumHeight(24);
+    coord2Layout->addWidget(m_editPoint2Y);
+
+    coord2Layout->addWidget(new QLabel("Z:", group));
+    m_editPoint2Z = new QLineEdit("--", group);
+    m_editPoint2Z->setMaximumWidth(70);
+    m_editPoint2Z->setMaximumHeight(24);
+    coord2Layout->addWidget(m_editPoint2Z);
+    coord2Layout->addStretch();
+    layout->addLayout(coord2Layout);
+
+    // 连接回车信号
+    connect(m_editPoint2X, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint2CoordChanged);
+    connect(m_editPoint2Y, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint2CoordChanged);
+    connect(m_editPoint2Z, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onPoint2CoordChanged);
+
     // 点2姿态输入（紧凑布局）
     QHBoxLayout* pose2Layout = new QHBoxLayout();
     pose2Layout->setSpacing(5);
@@ -439,6 +522,11 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
     connect(m_btnShowPose2, &QPushButton::clicked, this, &CloudViewMainWindow::onShowPose2);
     layout->addWidget(m_btnShowPose2);
 
+    // 连接姿态输入框的回车信号
+    connect(m_editRx2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
+    connect(m_editRy2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
+    connect(m_editRz2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
+
     // 分隔线
     QFrame* line3 = new QFrame(group);
     line3->setFrameShape(QFrame::HLine);
@@ -838,6 +926,12 @@ void CloudViewMainWindow::onClearAll()
     m_lblPoint1->setText("点1: --");
     m_lblPoint2->setText("点2: --");
     m_lblDistance->setText("--");
+    m_editPoint1X->setText("--");
+    m_editPoint1Y->setText("--");
+    m_editPoint1Z->setText("--");
+    m_editPoint2X->setText("--");
+    m_editPoint2Y->setText("--");
+    m_editPoint2Z->setText("--");
 
     // 清除选线信息
     m_lblLineIndex->setText("--");
@@ -859,6 +953,12 @@ void CloudViewMainWindow::onClearSelectedPoints()
     m_lblPoint1->setText("点1: --");
     m_lblPoint2->setText("点2: --");
     m_lblDistance->setText("--");
+    m_editPoint1X->setText("--");
+    m_editPoint1Y->setText("--");
+    m_editPoint1Z->setText("--");
+    m_editPoint2X->setText("--");
+    m_editPoint2Y->setText("--");
+    m_editPoint2Z->setText("--");
     statusBar()->showMessage("已清除选中的点");
 }
 
@@ -901,41 +1001,45 @@ void CloudViewMainWindow::updateSelectedPointsDisplay()
     if (selectedPoints.size() >= 1 && selectedPoints[0].valid) {
         QString text;
         if (selectedPoints[0].lineIndex >= 0) {
-            text = QString("点1: 线号:%1 点序:%2 x:%3 y:%4 z:%5")
+            text = QString("点1: 线号:%1 点序:%2")
                 .arg(selectedPoints[0].lineIndex)
-                .arg(selectedPoints[0].pointIndexInLine)
+                .arg(selectedPoints[0].pointIndexInLine);
-                .arg(selectedPoints[0].x, 0, 'f', 3)
-                .arg(selectedPoints[0].y, 0, 'f', 3)
-                .arg(selectedPoints[0].z, 0, 'f', 3);
         } else {
-            text = QString("点1: x:%1 y:%2 z:%3")
+            text = QString("点1:");
-                .arg(selectedPoints[0].x, 0, 'f', 3)
-                .arg(selectedPoints[0].y, 0, 'f', 3)
-                .arg(selectedPoints[0].z, 0, 'f', 3);
         }
         m_lblPoint1->setText(text);
+
+        // 更新坐标编辑框
+        m_editPoint1X->setText(QString::number(selectedPoints[0].x, 'f', 3));
+        m_editPoint1Y->setText(QString::number(selectedPoints[0].y, 'f', 3));
+        m_editPoint1Z->setText(QString::number(selectedPoints[0].z, 'f', 3));
     } else {
         m_lblPoint1->setText("点1: --");
+        m_editPoint1X->setText("--");
+        m_editPoint1Y->setText("--");
+        m_editPoint1Z->setText("--");
     }
 
     if (selectedPoints.size() >= 2 && selectedPoints[1].valid) {
         QString text;
         if (selectedPoints[1].lineIndex >= 0) {
-            text = QString("点2: 线号:%1 点序:%2 x:%3 y:%4 z:%5")
+            text = QString("点2: 线号:%1 点序:%2")
                 .arg(selectedPoints[1].lineIndex)
-                .arg(selectedPoints[1].pointIndexInLine)
+                .arg(selectedPoints[1].pointIndexInLine);
-                .arg(selectedPoints[1].x, 0, 'f', 3)
-                .arg(selectedPoints[1].y, 0, 'f', 3)
-                .arg(selectedPoints[1].z, 0, 'f', 3);
         } else {
-            text = QString("点2: x:%1 y:%2 z:%3")
+            text = QString("点2:");
-                .arg(selectedPoints[1].x, 0, 'f', 3)
-                .arg(selectedPoints[1].y, 0, 'f', 3)
-                .arg(selectedPoints[1].z, 0, 'f', 3);
         }
         m_lblPoint2->setText(text);
+
+        // 更新坐标编辑框
+        m_editPoint2X->setText(QString::number(selectedPoints[1].x, 'f', 3));
+        m_editPoint2Y->setText(QString::number(selectedPoints[1].y, 'f', 3));
+        m_editPoint2Z->setText(QString::number(selectedPoints[1].z, 'f', 3));
     } else {
         m_lblPoint2->setText("点2: --");
+        m_editPoint2X->setText("--");
+        m_editPoint2Y->setText("--");
+        m_editPoint2Z->setText("--");
     }
 }
 
@@ -1273,9 +1377,9 @@ void CloudViewMainWindow::onShowPose1()
     // 添加到显示
     m_glWidget->addPosePoints(poses);
 
-    statusBar()->showMessage(QString("已显示点1姿态 (%.3f, %.3f, %.3f) 旋转(%.1f°, %.1f°, %.1f°)")
+    statusBar()->showMessage(QString("已显示点1姿态 (%1, %2, %3) 旋转(%4°, %5°, %6°)")
-        .arg(point.x).arg(point.y).arg(point.z)
+        .arg(point.x, 0, 'f', 3).arg(point.y, 0, 'f', 3).arg(point.z, 0, 'f', 3)
-        .arg(rx).arg(ry).arg(rz));
+        .arg(rx, 0, 'f', 1).arg(ry, 0, 'f', 1).arg(rz, 0, 'f', 1));
 
     LOG_INFO("[CloudView] Show pose1 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n",
              point.x, point.y, point.z, rx, ry, rz);
@@ -1338,9 +1442,9 @@ void CloudViewMainWindow::onShowPose2()
     // 添加到显示
     m_glWidget->addPosePoints(poses);
 
-    statusBar()->showMessage(QString("已显示点2姿态 (%.3f, %.3f, %.3f) 旋转(%.1f°, %.1f°, %.1f°)")
+    statusBar()->showMessage(QString("已显示点2姿态 (%1, %2, %3) 旋转(%4°, %5°, %6°)")
-        .arg(point.x).arg(point.y).arg(point.z)
+        .arg(point.x, 0, 'f', 3).arg(point.y, 0, 'f', 3).arg(point.z, 0, 'f', 3)
-        .arg(rx).arg(ry).arg(rz));
+        .arg(rx, 0, 'f', 1).arg(ry, 0, 'f', 1).arg(rz, 0, 'f', 1));
 
     LOG_INFO("[CloudView] Show pose2 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n",
              point.x, point.y, point.z, rx, ry, rz);
@@ -1405,9 +1509,9 @@ void CloudViewMainWindow::onShowInputLine()
     float distance = std::sqrt(dx * dx + dy * dy + dz * dz);
 
     statusBar()->showMessage(QString("已显示线段 (%1,%2,%3) → (%4,%5,%6) 长度: %7")
-        .arg(x1).arg(y1).arg(z1)
+        .arg(x1, 0, 'f', 1).arg(y1, 0, 'f', 1).arg(z1, 0, 'f', 1)
-        .arg(x2).arg(y2).arg(z2)
+        .arg(x2, 0, 'f', 1).arg(y2, 0, 'f', 1).arg(z2, 0, 'f', 1)
-        .arg(distance));
+        .arg(distance, 0, 'f', 3));
 
     LOG_INFO("[CloudView] Show input line from (%.3f, %.3f, %.3f) to (%.3f, %.3f, %.3f) length=%.3f\n",
              x1, y1, z1, x2, y2, z2, distance);
@@ -1665,3 +1769,95 @@ void CloudViewMainWindow::onViewAnglesChanged(float rotX, float rotY, float rotZ
     m_editRotZ->setText(QString::number(rotZ, 'f', 1));
 }
 
+void CloudViewMainWindow::onPoint1CoordChanged()
+{
+    auto selectedPoints = m_glWidget->getSelectedPoints();
+    if (selectedPoints.isEmpty() || !selectedPoints[0].valid) {
+        QMessageBox::warning(this, "提示", "请先选择点1");
+        return;
+    }
+
+    // 读取编辑框中的坐标
+    bool ok = true;
+    float x = m_editPoint1X->text().toFloat(&ok);
+    if (!ok) {
+        QMessageBox::warning(this, "错误", "点1 X 值无效");
+        return;
+    }
+
+    float y = m_editPoint1Y->text().toFloat(&ok);
+    if (!ok) {
+        QMessageBox::warning(this, "错误", "点1 Y 值无效");
+        return;
+    }
+
+    float z = m_editPoint1Z->text().toFloat(&ok);
+    if (!ok) {
+        QMessageBox::warning(this, "错误", "点1 Z 值无效");
+        return;
+    }
+
+    // 更新选中点的坐标
+    m_glWidget->updateSelectedPointCoord(0, x, y, z);
+
+    // 如果启用了测距且有两个点，重新计算距离
+    if (m_glWidget->isMeasureDistanceEnabled() && selectedPoints.size() >= 2 && selectedPoints[1].valid) {
+        auto updatedPoints = m_glWidget->getSelectedPoints();
+        if (updatedPoints.size() >= 2) {
+            float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
+            m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
+            statusBar()->showMessage(QString("点1坐标已更新，距离: %1 mm").arg(distance, 0, 'f', 3));
+        }
+    } else {
+        statusBar()->showMessage(QString("点1坐标已更新为 (%1, %2, %3)").arg(x, 0, 'f', 3).arg(y, 0, 'f', 3).arg(z, 0, 'f', 3));
+    }
+
+    LOG_INFO("[CloudView] Point1 coord updated to (%.3f, %.3f, %.3f)\n", x, y, z);
+}
+
+void CloudViewMainWindow::onPoint2CoordChanged()
+{
+    auto selectedPoints = m_glWidget->getSelectedPoints();
+    if (selectedPoints.size() < 2 || !selectedPoints[1].valid) {
+        QMessageBox::warning(this, "提示", "请先选择点2");
+        return;
+    }
+
+    // 读取编辑框中的坐标
+    bool ok = true;
+    float x = m_editPoint2X->text().toFloat(&ok);
+    if (!ok) {
+        QMessageBox::warning(this, "错误", "点2 X 值无效");
+        return;
+    }
+
+    float y = m_editPoint2Y->text().toFloat(&ok);
+    if (!ok) {
+        QMessageBox::warning(this, "错误", "点2 Y 值无效");
+        return;
+    }
+
+    float z = m_editPoint2Z->text().toFloat(&ok);
+    if (!ok) {
+        QMessageBox::warning(this, "错误", "点2 Z 值无效");
+        return;
+    }
+
+    // 更新选中点的坐标
+    m_glWidget->updateSelectedPointCoord(1, x, y, z);
+
+    // 如果启用了测距，重新计算距离
+    if (m_glWidget->isMeasureDistanceEnabled()) {
+        auto updatedPoints = m_glWidget->getSelectedPoints();
+        if (updatedPoints.size() >= 2) {
+            float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]);
+            m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
+            statusBar()->showMessage(QString("点2坐标已更新，距离: %1 mm").arg(distance, 0, 'f', 3));
+        }
+    } else {
+        statusBar()->showMessage(QString("点2坐标已更新为 (%1, %2, %3)").arg(x, 0, 'f', 3).arg(y, 0, 'f', 3).arg(z, 0, 'f', 3));
+    }
+
+    LOG_INFO("[CloudView] Point2 coord updated to (%.3f, %.3f, %.3f)\n", x, y, z);
+}
+

CloudView/Src/PointCloudGLWidget.cpp

@@ -21,6 +21,7 @@ PointCloudGLWidget::PointCloudGLWidget(QWidget* parent)
     , m_rotationX(0.0f)
     , m_rotationY(0.0f)
     , m_rotationZ(0.0f)
+    , m_rotation(QQuaternion())  // 初始化为单位四元数
     , m_center(0, 0, 0)
     , m_pan(0, 0, 0)
     , m_minBound(-50, -50, -50)
@@ -128,18 +129,18 @@ void PointCloudGLWidget::paintGL()
     // 平移在相机空间中进行，使鼠标拖动方向与屏幕方向一致
     m_view.translate(-m_pan.x(), -m_pan.y(), -m_distance);
 
-    // 使用轨迹球旋转方式：先Y后X后Z，这样更直观
+    // 使用四元数旋转（物体坐标系旋转）
-    m_view.rotate(m_rotationY, 0, 1, 0);
+    m_view.rotate(m_rotation);
-    m_view.rotate(m_rotationX, 1, 0, 0);
-    m_view.rotate(m_rotationZ, 0, 0, 1);
 
     m_view.translate(-m_center);
 
     // 调试输出：每100帧输出一次当前旋转角度
     static int frameCount = 0;
     if (++frameCount % 100 == 0) {
-        LOG_INFO("[CloudView] Current rotation: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n",
+        // 从四元数转换为欧拉角用于显示
-                 m_rotationX, m_rotationY, m_rotationZ);
+        QVector3D euler = m_rotation.toEulerAngles();
+        LOG_INFO("[CloudView] Current rotation: pitch=%.1f, yaw=%.1f, roll=%.1f\n",
+                 euler.x(), euler.y(), euler.z());
     }
 
     glMatrixMode(GL_PROJECTION);
@@ -427,7 +428,8 @@ void PointCloudGLWidget::resetView()
 
     // 确保最小视距
     m_distance = qMax(maxSize * 2.0f, 10.0f);
-    // 默认视角：右手坐标系，X轴朝右，Y轴朝上，Z轴朝向观察者
+    // 重置旋转为单位四元数
+    m_rotation = QQuaternion();
     m_rotationX = 0.0f;
     m_rotationY = 0.0f;
     m_rotationZ = 0.0f;
@@ -447,6 +449,9 @@ void PointCloudGLWidget::setViewAngles(float rotX, float rotY, float rotZ)
     m_rotationZ = rotZ;
     m_pan = QVector3D(0, 0, 0);
 
+    // 从欧拉角转换为四元数（ZYX顺序）
+    m_rotation = QQuaternion::fromEulerAngles(rotX, rotY, rotZ);
+
     LOG_INFO("[CloudView] setViewAngles: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", rotX, rotY, rotZ);
 
     emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
@@ -548,6 +553,27 @@ float PointCloudGLWidget::calculateDistance(const SelectedPointInfo& p1, const S
     return std::sqrt(dx * dx + dy * dy + dz * dz);
 }
 
+void PointCloudGLWidget::updateSelectedPointCoord(int index, float x, float y, float z)
+{
+    if (index < 0 || index >= m_selectedPoints.size()) {
+        return;
+    }
+
+    if (!m_selectedPoints[index].valid) {
+        return;
+    }
+
+    // 更新选中点的坐标
+    m_selectedPoints[index].x = x;
+    m_selectedPoints[index].y = y;
+    m_selectedPoints[index].z = z;
+
+    LOG_INFO("[CloudView] Updated selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
+
+    // 刷新显示
+    update();
+}
+
 QVector<QVector3D> PointCloudGLWidget::getSelectedLinePoints() const
 {
     QVector<QVector3D> points;
@@ -901,10 +927,11 @@ void PointCloudGLWidget::drawSelectedLine()
 
 void PointCloudGLWidget::drawAxis()
 {
-    // 在右下角绘制坐标系指示器（右手坐标系）
+    // 在右下角绘制坐标系指示器
+    // 坐标系定义：X向右，Y向下，Z朝后
     // X轴：红色，指向右
-    // Y轴：绿色，指向上
+    // Y轴：绿色，指向下
-    // Z轴：蓝色，指向观察者（屏幕外）
+    // Z轴：蓝色，指向后（远离观察者）
     GLint viewport[4];
     glGetIntegerv(GL_VIEWPORT, viewport);
 
@@ -927,10 +954,10 @@ void PointCloudGLWidget::drawAxis()
     // 移动到右下角中心位置
     glTranslatef(axisX + axisSize / 2.0f, axisY + axisSize / 2.0f, 0.0f);
 
-    // 应用当前视图的旋转（与主视图同步）
+    // 应用当前视图的旋转（使用四元数转换为矩阵）
-    glRotatef(m_rotationY, 0, 1, 0);
+    QMatrix4x4 rotMatrix;
-    glRotatef(m_rotationX, 1, 0, 0);
+    rotMatrix.rotate(m_rotation);
-    glRotatef(m_rotationZ, 0, 0, 1);
+    glMultMatrixf(rotMatrix.constData());
 
     // 关闭深度测试，确保坐标系始终可见
     glDisable(GL_DEPTH_TEST);
@@ -939,17 +966,17 @@ void PointCloudGLWidget::drawAxis()
     glLineWidth(2.0f);
     glBegin(GL_LINES);
 
-    // X 轴 - 红色（右手坐标系：向右）
+    // X 轴 - 红色（向右）
     glColor3f(1.0f, 0.0f, 0.0f);
     glVertex3f(0.0f, 0.0f, 0.0f);
     glVertex3f(axisLength, 0.0f, 0.0f);
 
-    // Y 轴 - 绿色（右手坐标系：向上）
+    // Y 轴 - 绿色（向下，在屏幕坐标中是向上显示）
     glColor3f(0.0f, 1.0f, 0.0f);
     glVertex3f(0.0f, 0.0f, 0.0f);
     glVertex3f(0.0f, axisLength, 0.0f);
 
-    // Z 轴 - 蓝色（右手坐标系：向观察者）
+    // Z 轴 - 蓝色（向后，在屏幕坐标中是向观察者）
     glColor3f(0.0f, 0.0f, 1.0f);
     glVertex3f(0.0f, 0.0f, 0.0f);
     glVertex3f(0.0f, 0.0f, axisLength);
@@ -1060,15 +1087,37 @@ void PointCloudGLWidget::mouseMoveEvent(QMouseEvent* event)
     m_lastMousePos = event->pos();
 
     if (m_leftButtonPressed) {
-        // Alt+左键拖动：旋转rotZ（滚转）
+        // Alt+左键拖动：绕视线方向旋转（滚转）
         if (event->modifiers() & Qt::AltModifier) {
-            m_rotationZ += delta.x() * 0.5f;
+            // 绕Z轴（视线方向）旋转（修正方向）
+            float angle = -delta.x() * 0.5f;  // 取反修正方向
+            QQuaternion deltaRotation = QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), angle);
+            m_rotation = deltaRotation * m_rotation;
+            m_rotationZ += angle;
         } else {
-            // 普通左键拖动：旋转rotX和rotY
+            // 普通左键拖动：基于当前物体坐标系的旋转
-            m_rotationY += delta.x() * 0.5f;
+            // 鼠标水平移动 -> 绕当前Y轴旋转
-            m_rotationX += delta.y() * 0.5f;
+            // 鼠标垂直移动 -> 绕当前X轴旋转
+
+            // 计算旋转角度
+            float angleX = delta.y() * 0.5f;  // 垂直移动
+            float angleY = delta.x() * 0.5f;  // 水平移动
+
+            // 创建增量旋转四元数（在相机空间中）
+            // 先绕X轴旋转（俯仰），再绕Y轴旋转（偏航）
+            QQuaternion deltaRotationX = QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), angleX);
+            QQuaternion deltaRotationY = QQuaternion::fromAxisAndAngle(QVector3D(0, 1, 0), angleY);
+            QQuaternion deltaRotation = deltaRotationY * deltaRotationX;
+
+            // 应用增量旋转（左乘，相机空间旋转）
+            m_rotation = deltaRotation * m_rotation;
+
+            // 更新欧拉角（用于显示）
+            m_rotationX += angleX;
+            m_rotationY += angleY;
         }
-        // 移除角度限制，允许无限旋转
+
+        // 发送角度变化信号
         emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
         update();
     } else if (m_middleButtonPressed) {
@@ -1077,7 +1126,11 @@ void PointCloudGLWidget::mouseMoveEvent(QMouseEvent* event)
         m_pan.setY(m_pan.y() + delta.y() * factor);
         update();
     } else if (m_rightButtonPressed) {
-        m_rotationZ += delta.x() * 0.5f;
+        // 右键拖动：绕视线方向旋转（滚转）（修正方向）
+        float angle = -delta.x() * 0.5f;  // 取反修正方向
+        QQuaternion deltaRotation = QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), angle);
+        m_rotation = deltaRotation * m_rotation;
+        m_rotationZ += angle;
         emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
         update();
     }