输入坐标可直接显示;点云生成图像增加功能

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 +94,18 @@ 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
+    // useZGradient: 为true时根据点云Z值范围生成灰度渐变底图，否则使用统一灰色底图
     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,
+        bool useZGradient = false);
 
 private:
     // 定义线特征颜色和大小获取函数

CloudUtils/Src/LaserDataLoader.cpp

@@ -128,6 +128,12 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
                 return ERR_CODE(DATA_ERR_INVALID);
             }
 
+            // 防止数组越界：跳过超出声明点数的数据行
+            if (nLaserPointIdx >= sLaserData.nPointCount) {
+                LOG_WARN("nLaserPointIdx(%d) >= nPointCount(%d), skip\n", nLaserPointIdx, sLaserData.nPointCount);
+                continue;
+            }
+
             if (eDataType == keResultDataType_PointXYZRGBA) {
                 SVzNLPointXYZRGBA* pRGBAPoints = static_cast<SVzNLPointXYZRGBA*>(sLaserData.p3DPoint);
                 SVzNL2DLRPoint* p2DPoints = static_cast<SVzNL2DLRPoint*>(sLaserData.p2DPoint);

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);
-            int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip);
+            double projX, projY;
+            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 +1446,181 @@ 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,
+    bool useZGradient)
 {
-    // 先生成热力图底图
-    QImage image = GenerateHeatmapImage(scanLines);
-    if (image.isNull() || holes.empty()) {
-        return image;
+    QImage image;
+
+    if (useZGradient) {
+        // 根据Z值范围生成灰度渐变底图
+        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);
+
+        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）
+        // 计算 XY 范围和 Z 范围
         double xMin, xMax, yMin, yMax;
+        double zMin = std::numeric_limits<double>::max();
+        double zMax = -std::numeric_limits<double>::max();
+
+        if (!needRotate) {
             CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
+            for (const auto& scanLine : scanLines) {
+                for (const auto& point : scanLine) {
+                    if (point.pt3D.z < 1e-4) continue;
+                    if (point.pt3D.z < zMin) zMin = point.pt3D.z;
+                    if (point.pt3D.z > zMax) zMax = point.pt3D.z;
+                }
+            }
+        } 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 (point.pt3D.z < zMin) zMin = point.pt3D.z;
+                    if (point.pt3D.z > zMax) zMax = point.pt3D.z;
+                }
+            }
+        }
+
+        if (xMax <= xMin || yMax <= yMin) {
+            return QImage();
+        }
+
+        double y_rows = (double)(imgRows - y_skip * 2);
+        double x_cols = (double)(imgCols - x_skip * 2);
+        double x_scale = (xMax - xMin) / x_cols;
+        double y_scale = (yMax - yMin) / y_rows;
+        if (x_scale < y_scale)
+            x_scale = y_scale;
+        else
+            y_scale = x_scale;
+
+        // 自适应点大小
+        int lineCount = static_cast<int>(scanLines.size());
+        int pointSize = 2;
+        if (lineCount > 1) {
+            double lineSpacing = (yMax - yMin) / (lineCount - 1);
+            pointSize = (int)std::ceil(lineSpacing / x_scale);
+            if (pointSize < 2) pointSize = 2;
+            if (pointSize > 6) pointSize = 6;
+        }
+
+        // 创建图像
+        image = QImage(imgCols, imgRows, QImage::Format_RGB888);
+        image.fill(Qt::black);
+
+        QPainter painter(&image);
+
+        double zRange = zMax - zMin;
+        for (const auto& scanLine : scanLines) {
+            for (const auto& point : scanLine) {
+                if (point.pt3D.z < 1e-4) continue;
+
+                double projX, projY;
+                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) {
+                    // Z值映射到灰度：zMin → 0(黑), zMax → 255(白)
+                    int gray = 0;
+                    if (zRange > 1e-6) {
+                        gray = (int)(255.0 * (point.pt3D.z - zMin) / zRange);
+                        if (gray < 0) gray = 0;
+                        if (gray > 255) gray = 255;
+                    }
+                    painter.fillRect(px, py, pointSize, pointSize, QColor(gray, gray, gray));
+                }
+            }
+        }
+    } else {
+        // 使用统一灰色底图
+        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，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 +1646,19 @@ QImage PointCloudImageUtils::GenerateHoleDetectionImage(
             continue;
         }
 
-        int px = (int)((hole.center.x - xMin) / x_scale + x_skip);
-        int py = (int)((hole.center.y - yMin) / y_scale + y_skip);
+        double projX, projY;
+        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/Inc/CloudViewMainWindow.h

@@ -303,6 +303,9 @@ private:
     QLineEdit* m_editRz2;
     QPushButton* m_btnShowPose2;
 
+    // 姿态坐标轴缩放
+    QLineEdit* m_editPoseScale;
+
     // 欧拉角旋转顺序选择
     QComboBox* m_comboEulerOrder;
 

CloudView/Inc/PointCloudGLWidget.h

@@ -287,6 +287,7 @@ private:
         std::vector<float> colors;
         std::vector<int> lineIndices;      // 每个点所属的线索引
         std::vector<int> originalIndices;  // 每个显示点在原始点云中的索引（用于计算原始index）
+        std::vector<int> pointInLineIndices; // 每个显示点在所属线中的索引（预计算，支持不等长线）
         bool hasColor;
         bool hasLineInfo;                  // 是否有线信息
         QString name;
@@ -322,6 +323,7 @@ private:
             , colors(std::move(other.colors))
             , lineIndices(std::move(other.lineIndices))
             , originalIndices(std::move(other.originalIndices))
+            , pointInLineIndices(std::move(other.pointInLineIndices))
             , hasColor(other.hasColor)
             , hasLineInfo(other.hasLineInfo)
             , name(std::move(other.name))
@@ -351,6 +353,7 @@ private:
                 colors = std::move(other.colors);
                 lineIndices = std::move(other.lineIndices);
                 originalIndices = std::move(other.originalIndices);
+                pointInLineIndices = std::move(other.pointInLineIndices);
                 hasColor = other.hasColor;
                 hasLineInfo = other.hasLineInfo;
                 name = std::move(other.name);

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;
@@ -595,6 +596,16 @@ QGroupBox* CloudViewMainWindow::createMeasureGroup()
     connect(m_editRy2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
     connect(m_editRz2, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onShowPose2);
 
+    // 姿态坐标轴缩放输入
+    QHBoxLayout* scaleLayout = new QHBoxLayout();
+    scaleLayout->setSpacing(5);
+    scaleLayout->addWidget(new QLabel("坐标轴长度:", group));
+    m_editPoseScale = new QLineEdit("10.0", group);
+    m_editPoseScale->setMaximumWidth(60);
+    scaleLayout->addWidget(m_editPoseScale);
+    scaleLayout->addStretch();
+    layout->addLayout(scaleLayout);
+
     // 分隔线
     QFrame* line3 = new QFrame(group);
     line3->setFrameShape(QFrame::HLine);
@@ -1587,8 +1598,9 @@ void CloudViewMainWindow::onShowPose1()
         return;
     }
 
-    // 固定大小为10
-    float scale = 10.0f;
+    // 读取坐标轴缩放
+    float scale = m_editPoseScale->text().toFloat(&ok);
+    if (!ok || scale <= 0) scale = 25.0f;
 
     // 清除之前的姿态点
     m_glWidget->clearPosePoints();
@@ -1660,8 +1672,9 @@ void CloudViewMainWindow::onShowPose2()
         return;
     }
 
-    // 固定大小为10
-    float scale = 10.0f;
+    // 读取坐标轴缩放
+    float scale = m_editPoseScale->text().toFloat(&ok);
+    if (!ok || scale <= 0) scale = 25.0f;
 
     // 清除之前的姿态点
     m_glWidget->clearPosePoints();
@@ -2022,12 +2035,6 @@ void CloudViewMainWindow::onViewAnglesChanged(float rotX, float rotY, float rotZ
 
 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);
@@ -2048,17 +2055,16 @@ void CloudViewMainWindow::onPoint1CoordChanged()
         return;
     }
 
-    // 更新选中点的坐标
-    m_glWidget->updateSelectedPointCoord(0, x, y, z);
+    // 直接设置选中点坐标（无论是否已有鼠标选点）
+    m_glWidget->setSelectedPointCoord(0, x, y, z);
+    updateSelectedPointsDisplay();
 
     // 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) {
+    if (m_glWidget->isMeasureDistanceEnabled() && updatedPoints.size() >= 2 && updatedPoints[1].valid) {
         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));
     }
@@ -2068,12 +2074,6 @@ void CloudViewMainWindow::onPoint1CoordChanged()
 
 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);
@@ -2094,17 +2094,16 @@ void CloudViewMainWindow::onPoint2CoordChanged()
         return;
     }
 
-    // 更新选中点的坐标
-    m_glWidget->updateSelectedPointCoord(1, x, y, z);
+    // 直接设置选中点坐标（无论是否已有鼠标选点）
+    m_glWidget->setSelectedPointCoord(1, x, y, z);
+    updateSelectedPointsDisplay();
 
     // 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) {
+    if (m_glWidget->isMeasureDistanceEnabled() && updatedPoints.size() >= 2 && updatedPoints[0].valid) {
         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));
     }

CloudView/Src/PointCloudGLWidget.cpp

@@ -255,13 +255,27 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
     data.pointsPerLine = 0;
 
     const float EPSILON = 1e-6f;
+    int prevLineIdx = -1;
+    int ptInLineCounter = 0;
     for (size_t i = 0; i < cloud.points.size(); ++i) {
+        // 跟踪线内索引（对所有点递增，包括被过滤的零点）
+        int lineIdx = -1;
+        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
+            lineIdx = cloud.lineIndices[i];
+        }
+        if (lineIdx != prevLineIdx) {
+            ptInLineCounter = 0;
+            prevLineIdx = lineIdx;
+        }
+
         const auto& pt = cloud.points[i];
         if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) {
+            ptInLineCounter++;
             continue;
         }
         // 显示时过滤 (0,0,0) 点
         if (std::fabs(pt.x) < EPSILON && std::fabs(pt.y) < EPSILON && std::fabs(pt.z) < EPSILON) {
+            ptInLineCounter++;
             continue;
         }
         data.vertices.push_back(pt.x);
@@ -271,14 +285,18 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
         // 保存原始索引
         data.originalIndices.push_back(static_cast<int>(i));
 
+        // 保存线内索引（点在所属线中的位置）
+        data.pointInLineIndices.push_back(ptInLineCounter);
+
         // 保存线索引
-        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
-            int lineIdx = cloud.lineIndices[i];
+        if (lineIdx >= 0) {
             data.lineIndices.push_back(lineIdx);
             if (lineIdx + 1 > data.totalLines) {
                 data.totalLines = lineIdx + 1;
             }
         }
+
+        ptInLineCounter++;
     }
 
     // 计算每线点数（假设网格化点云）
@@ -328,9 +346,31 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
     // 用于按点大小分组的临时 map
     std::map<float, std::vector<size_t>> sizeGroupMap;
 
+    const float EPSILON = 1e-6f;
+    int prevLineIdx = -1;
+    int ptInLineCounter = 0;
+
     for (size_t i = 0; i < cloud.points.size(); ++i) {
         const auto& pt = cloud.points[i];
+
+        // 跟踪线内索引（对所有点递增，包括被过滤的零点）
+        int lineIdx = -1;
+        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
+            lineIdx = cloud.lineIndices[i];
+        }
+        if (lineIdx != prevLineIdx) {
+            ptInLineCounter = 0;
+            prevLineIdx = lineIdx;
+        }
+
         if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) {
+            ptInLineCounter++;
+            continue;
+        }
+
+        // 显示时过滤 (0,0,0) 点
+        if (std::fabs(pt.x) < EPSILON && std::fabs(pt.y) < EPSILON && std::fabs(pt.z) < EPSILON) {
+            ptInLineCounter++;
             continue;
         }
 
@@ -347,9 +387,11 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
         // 保存原始索引
         data.originalIndices.push_back(static_cast<int>(i));
 
+        // 保存线内索引（点在所属线中的位置）
+        data.pointInLineIndices.push_back(ptInLineCounter);
+
         // 保存线索引
-        if (data.hasLineInfo && i < cloud.lineIndices.size()) {
-            int lineIdx = cloud.lineIndices[i];
+        if (lineIdx >= 0) {
             data.lineIndices.push_back(lineIdx);
             if (lineIdx + 1 > data.totalLines) {
                 data.totalLines = lineIdx + 1;
@@ -360,6 +402,8 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
         if (pt.pointSize > 1.0f) {
             sizeGroupMap[pt.pointSize].push_back(pointIndex);
         }
+
+        ptInLineCounter++;
     }
 
     // 构建自定义点大小分组
@@ -843,10 +887,9 @@ SelectedPointInfo PointCloudGLWidget::pickPoint(int screenX, int screenY)
         // 计算点在线中的原始索引
         if (bestLineIndex >= 0 && bestCloudIndex >= 0) {
             const auto& cloudData = m_pointClouds[bestCloudIndex];
-            // 使用原始索引计算：原始索引 % 每线点数
-            if (bestIndex < cloudData.originalIndices.size() && cloudData.pointsPerLine > 0) {
-                int originalIdx = cloudData.originalIndices[bestIndex];
-                result.pointIndexInLine = originalIdx % cloudData.pointsPerLine;
+            // 使用预计算的线内索引（支持不等长线）
+            if (bestIndex < cloudData.pointInLineIndices.size()) {
+                result.pointIndexInLine = cloudData.pointInLineIndices[bestIndex];
             }
         }
 

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