#include "CloudViewMainWindow.h"
#include <QFileInfo>
#include <QDialog>
#include <QTextEdit>
#include <QTableWidget>
#include <QHeaderView>
#include <QVector3D>
#include <QFile>
#include <QTextStream>
#include <QRegExp>
#include <QFrame>
#include <QTabWidget>
#include <QGridLayout>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
#include <QEvent>
#include <QResizeEvent>
#include <QMenuBar>
#include <QMenu>
#include <QAction>
#include <QFormLayout>
#include <QDialogButtonBox>
#include <QDoubleSpinBox>
#include <QGroupBox>
#include <QListWidget>
#include <QSettings>
#include <QProgressDialog>
#include <QCoreApplication>
#include <cmath>
#include <cctype>
#include <algorithm>
#include <array>
#include "VrLog.h"
#include "LaserDataLoader.h"

namespace
{
constexpr double kPi = 3.14159265358979323846;
constexpr double kDegToRad = kPi / 180.0;

bool parseMatrixText(const QString& text, QMatrix4x4& matrix, QString* errorMessage = nullptr)
{
    QStringList lines = text.split('\n', QString::SkipEmptyParts);
    QVector<QVector<float>> rows;

    for (const QString& line : lines) {
        QString cleaned = line.trimmed();
        if (cleaned.isEmpty() || cleaned.startsWith('#')) {
            continue;
        }

        cleaned.replace(',', ' ');
        cleaned.replace('\t', ' ');
        const QStringList parts = cleaned.split(' ', QString::SkipEmptyParts);

        QVector<float> row;
        bool ok = true;
        for (const QString& part : parts) {
            const float value = part.toFloat(&ok);
            if (!ok) {
                break;
            }
            row.append(value);
        }

        if (!ok || row.size() != 4) {
            if (errorMessage) {
                *errorMessage = QString("矩阵格式无效，第 %1 行需要 4 个数值").arg(rows.size() + 1);
            }
            return false;
        }

        rows.append(row);
    }

    if (rows.size() != 4) {
        if (errorMessage) {
            *errorMessage = QString("矩阵需要 4 行数值，当前为 %1 行").arg(rows.size());
        }
        return false;
    }

    matrix.setToIdentity();
    for (int row = 0; row < 4; ++row) {
        for (int col = 0; col < 4; ++col) {
            matrix(row, col) = rows[row][col];
        }
    }
    return true;
}

QString formatMatrixText(const QMatrix4x4& matrix)
{
    QStringList lines;
    for (int row = 0; row < 4; ++row) {
        QStringList values;
        for (int col = 0; col < 4; ++col) {
            values.append(QString::number(matrix(row, col), 'f', 6));
        }
        lines.append(values.join("  "));
    }
    return lines.join("\n");
}

// 从 EyeHandCalibMatrixInfo.ini 格式加载标定矩阵
// 返回 true 表示成功，matrixList 填充所有找到的矩阵及其描述信息
bool parseCalibIniFile(const QString& fileName, QVector<QPair<QString, QMatrix4x4>>& matrixList, QString* errorMessage = nullptr)
{
    QSettings settings(fileName, QSettings::IniFormat);

    const int nExist = settings.value("CommInfo/nExistMatrixNum", 0).toInt();
    if (nExist <= 0) {
        if (errorMessage) *errorMessage = "INI 文件中未找到标定矩阵 (nExistMatrixNum=0)";
        return false;
    }

    for (int i = 0; i < nExist; ++i) {
        const QString section = QString("CalibMatrixInfo_%1").arg(i);
        settings.beginGroup(section);

        QMatrix4x4 matrix;
        matrix.setToIdentity();
        bool ok = true;
        for (int idx = 0; idx < 16; ++idx) {
            const QString key = QString("dCalibMatrix_%1").arg(idx);
            const double val = settings.value(key, 0.0).toDouble(&ok);
            if (!ok) break;
            const int row = idx / 4;
            const int col = idx % 4;
            matrix(row, col) = static_cast<float>(val);
        }

        if (!ok) {
            settings.endGroup();
            if (errorMessage) *errorMessage = QString("矩阵 %1 的数据格式无效").arg(i);
            return false;
        }

        const int posIdx = settings.value("nCalibPosIdx", i).toInt();
        const QString posName = settings.value("sCalibPosName", "").toString();
        const QString calibTime = settings.value("sCalibTime", "").toString();
        QString desc = QString("矩阵 %1 (位置%2").arg(i).arg(posIdx);
        if (!posName.isEmpty()) desc += QString(", %1").arg(posName);
        if (!calibTime.isEmpty()) desc += QString(", %1").arg(calibTime);
        desc += ")";

        settings.endGroup();
        matrixList.append(qMakePair(desc, matrix));
    }
    return true;
}

QMatrix4x4 makeAxisRotationMatrix(char axis, double angleRad)
{
    QMatrix4x4 matrix;
    matrix.setToIdentity();

    const float c = static_cast<float>(std::cos(angleRad));
    const float s = static_cast<float>(std::sin(angleRad));

    switch (axis) {
    case 'x':
        matrix(1, 1) = c;
        matrix(1, 2) = -s;
        matrix(2, 1) = s;
        matrix(2, 2) = c;
        break;
    case 'y':
        matrix(0, 0) = c;
        matrix(0, 2) = s;
        matrix(2, 0) = -s;
        matrix(2, 2) = c;
        break;
    case 'z':
        matrix(0, 0) = c;
        matrix(0, 1) = -s;
        matrix(1, 0) = s;
        matrix(1, 1) = c;
        break;
    default:
        break;
    }

    return matrix;
}

QMatrix4x4 buildRobotPoseMatrix(float x, float y, float z, float rxDeg, float ryDeg, float rzDeg)
{
    const QMatrix4x4 rotation =
        makeAxisRotationMatrix('z', rzDeg * kDegToRad) *
        makeAxisRotationMatrix('y', ryDeg * kDegToRad) *
        makeAxisRotationMatrix('x', rxDeg * kDegToRad);

    QMatrix4x4 matrix = rotation;
    matrix(0, 3) = x;
    matrix(1, 3) = y;
    matrix(2, 3) = z;
    matrix(3, 0) = 0.0f;
    matrix(3, 1) = 0.0f;
    matrix(3, 2) = 0.0f;
    matrix(3, 3) = 1.0f;
    return matrix;
}

void transformPointCloud(PointCloudXYZ& cloud, const QMatrix4x4& matrix)
{
    for (auto& point : cloud.points) {
        const QVector3D transformed = matrix.map(QVector3D(point.x, point.y, point.z));
        point.x = transformed.x();
        point.y = transformed.y();
        point.z = transformed.z();
    }
}

double clampValue(double value, double minValue, double maxValue)
{
    return std::max(minValue, std::min(maxValue, value));
}

QMatrix4x4 buildEulerRotationMatrix(EulerRotationOrder order, double rxDeg, double ryDeg, double rzDeg)
{
    const QMatrix4x4 Rx = makeAxisRotationMatrix('x', rxDeg * kDegToRad);
    const QMatrix4x4 Ry = makeAxisRotationMatrix('y', ryDeg * kDegToRad);
    const QMatrix4x4 Rz = makeAxisRotationMatrix('z', rzDeg * kDegToRad);

    switch (order) {
    case EulerRotationOrder::ZYX: return Rz * Ry * Rx;
    case EulerRotationOrder::XYZ: return Rx * Ry * Rz;
    case EulerRotationOrder::ZXY: return Rz * Rx * Ry;
    case EulerRotationOrder::YXZ: return Ry * Rx * Rz;
    case EulerRotationOrder::XZY: return Rx * Rz * Ry;
    case EulerRotationOrder::YZX: return Ry * Rz * Rx;
    }

    QMatrix4x4 identity;
    identity.setToIdentity();
    return identity;
}

QVector3D rotationMatrixToEuler(EulerRotationOrder order, const QMatrix4x4& m)
{
    constexpr double kEps = 1e-8;
    double rx = 0.0;
    double ry = 0.0;
    double rz = 0.0;

    switch (order) {
    case EulerRotationOrder::ZYX: {
        const double cy = std::sqrt(m(0, 0) * m(0, 0) + m(1, 0) * m(1, 0));
        if (cy > kEps) {
            rx = std::atan2(m(2, 1), m(2, 2));
            ry = std::atan2(-m(2, 0), cy);
            rz = std::atan2(m(1, 0), m(0, 0));
        } else {
            rx = std::atan2(-m(1, 2), m(1, 1));
            ry = std::atan2(-m(2, 0), cy);
            rz = 0.0;
        }
        break;
    }
    case EulerRotationOrder::XYZ: {
        const double cy = std::sqrt(m(0, 0) * m(0, 0) + m(0, 1) * m(0, 1));
        if (cy > kEps) {
            rx = std::atan2(-m(1, 2), m(2, 2));
            ry = std::atan2(m(0, 2), cy);
            rz = std::atan2(-m(0, 1), m(0, 0));
        } else {
            rx = std::atan2(m(2, 1), m(1, 1));
            ry = std::atan2(m(0, 2), cy);
            rz = 0.0;
        }
        break;
    }
    case EulerRotationOrder::ZXY: {
        const double cx = std::sqrt(m(2, 0) * m(2, 0) + m(2, 2) * m(2, 2));
        if (cx > kEps) {
            rx = std::atan2(m(2, 1), cx);
            ry = std::atan2(-m(2, 0), m(2, 2));
            rz = std::atan2(-m(0, 1), m(1, 1));
        } else {
            rx = std::atan2(m(2, 1), cx);
            ry = 0.0;
            rz = std::atan2(m(1, 0), m(0, 0));
        }
        break;
    }
    case EulerRotationOrder::YXZ: {
        const double cx = std::sqrt(m(1, 0) * m(1, 0) + m(1, 1) * m(1, 1));
        if (cx > kEps) {
            rx = std::atan2(-m(1, 2), cx);
            ry = std::atan2(m(0, 2), m(2, 2));
            rz = std::atan2(m(1, 0), m(1, 1));
        } else {
            rx = std::atan2(-m(1, 2), cx);
            ry = std::atan2(-m(2, 0), m(0, 0));
            rz = 0.0;
        }
        break;
    }
    case EulerRotationOrder::XZY: {
        const double cz = std::sqrt(m(0, 0) * m(0, 0) + m(0, 2) * m(0, 2));
        if (cz > kEps) {
            rx = std::atan2(m(2, 1), m(1, 1));
            ry = std::atan2(m(0, 2), m(0, 0));
            rz = std::atan2(-m(0, 1), cz);
        } else {
            rx = std::atan2(-m(1, 2), m(2, 2));
            ry = 0.0;
            rz = std::atan2(-m(0, 1), cz);
        }
        break;
    }
    case EulerRotationOrder::YZX: {
        const double cz = std::sqrt(m(1, 1) * m(1, 1) + m(1, 2) * m(1, 2));
        if (cz > kEps) {
            rx = std::atan2(-m(1, 2), m(1, 1));
            ry = std::atan2(-m(2, 0), m(0, 0));
            rz = std::atan2(m(1, 0), cz);
        } else {
            rx = 0.0;
            ry = std::atan2(m(0, 2), m(2, 2));
            rz = std::atan2(m(1, 0), cz);
        }
        break;
    }
    }

    return QVector3D(static_cast<float>(rx / kDegToRad),
                     static_cast<float>(ry / kDegToRad),
                     static_cast<float>(rz / kDegToRad));
}

PointCloudXYZ generateBoxPointCloud(const QVector3D& center, const QVector3D& size, float spacing)
{
    PointCloudXYZ cloud;

    const int xSteps = std::max(1, static_cast<int>(std::ceil(size.x() / spacing)));
    const int ySteps = std::max(1, static_cast<int>(std::ceil(size.y() / spacing)));
    const int zSteps = std::max(1, static_cast<int>(std::ceil(size.z() / spacing)));

    const float stepX = size.x() / xSteps;
    const float stepY = size.y() / ySteps;
    const float stepZ = size.z() / zSteps;

    cloud.reserve(static_cast<size_t>((xSteps + 1) * (ySteps + 1) * (zSteps + 1)));

    const float minX = center.x() - size.x() * 0.5f;
    const float minY = center.y() - size.y() * 0.5f;
    const float minZ = center.z() - size.z() * 0.5f;

    for (int ix = 0; ix <= xSteps; ++ix) {
        const bool onXBoundary = (ix == 0 || ix == xSteps);
        const float x = minX + stepX * ix;
        for (int iy = 0; iy <= ySteps; ++iy) {
            const bool onYBoundary = (iy == 0 || iy == ySteps);
            const float y = minY + stepY * iy;
            for (int iz = 0; iz <= zSteps; ++iz) {
                const bool onZBoundary = (iz == 0 || iz == zSteps);
                if (!(onXBoundary || onYBoundary || onZBoundary)) {
                    continue;
                }

                const float z = minZ + stepZ * iz;
                cloud.push_back(Point3D(x, y, z));
            }
        }
    }

    return cloud;
}
} // namespace

CloudViewMainWindow::CloudViewMainWindow(QWidget* parent)
    : QMainWindow(parent)
    , m_glWidget(nullptr)
    , m_converter(std::make_unique<PointCloudConverter>())
    , m_cloudCount(0)
    , m_currentLineNum(0)
    , m_currentLinePtNum(0)
    , m_linePointsDialog(nullptr)
    , m_linePointsTable(nullptr)
{
    setupUI();
    LOG_INFO("CloudViewMainWindow initialized\n");
}

CloudViewMainWindow::~CloudViewMainWindow()
{
}

bool CloudViewMainWindow::eventFilter(QObject* obj, QEvent* event)
{
    if (obj == m_glWidget && event->type() == QEvent::Resize) {
        auto* resizeEvt = static_cast<QResizeEvent*>(event);
        int w = resizeEvt->size().width();
        int h = resizeEvt->size().height();
        int btnW = m_btnZoomIn->width();
        int btnH = m_btnZoomIn->height();
        int margin = 8;
        int gap = 4;
        int x = w - btnW - margin;
        int y = (h - btnH * 2 - gap) / 2;
        m_btnZoomIn->move(x, y);
        m_btnZoomOut->move(x, y + btnH + gap);
    }
    return QMainWindow::eventFilter(obj, event);
}

void CloudViewMainWindow::setupUI()
{
    // ── 文件菜单 ──
    QMenu* fileMenu = menuBar()->addMenu("文件");
    QAction* actOpenFile = fileMenu->addAction("打开...\tCtrl+O");
    actOpenFile->setShortcut(QKeySequence("Ctrl+O"));
    connect(actOpenFile, &QAction::triggered, this, &CloudViewMainWindow::onOpenFile);
    fileMenu->addSeparator();
    QAction* actSaveCloud = fileMenu->addAction("保存txt点云...\tCtrl+S");
    actSaveCloud->setShortcut(QKeySequence("Ctrl+S"));
    connect(actSaveCloud, &QAction::triggered, this, &CloudViewMainWindow::onSavePointCloud);
    QAction* actSavePlyPcd = fileMenu->addAction("保存ply/pcd点云...\tCtrl+Shift+S");
    actSavePlyPcd->setShortcut(QKeySequence("Ctrl+Shift+S"));
    connect(actSavePlyPcd, &QAction::triggered, this, &CloudViewMainWindow::onSavePlyPcdCloud);

    // ── 点云菜单 ──
    QMenu* cloudMenu = menuBar()->addMenu("点云");
    QAction* actGenerateCloud = cloudMenu->addAction("生成长方体点云...");
    connect(actGenerateCloud, &QAction::triggered, this, &CloudViewMainWindow::onGeneratePointCloud);
    QAction* actRotateByZ = cloudMenu->addAction("点云旋转...");
    connect(actRotateByZ, &QAction::triggered, this, &CloudViewMainWindow::onRotateCloudByZ);

    QMenu* toolMenu = menuBar()->addMenu("工具");
    QAction* actEulerPose = toolMenu->addAction("欧拉角与方向向量矩阵互转...");
    connect(actEulerPose, &QAction::triggered, this, &CloudViewMainWindow::onConvertEulerMatrix);
    QAction* actPoseComp = toolMenu->addAction("姿态补偿计算...");
    connect(actPoseComp, &QAction::triggered, this, &CloudViewMainWindow::onPoseCompensation);

    QMenu* transformMenu = menuBar()->addMenu("矩阵变换");
    QAction* actEyeToHand = transformMenu->addAction("眼在手外...");
    connect(actEyeToHand, &QAction::triggered, this, &CloudViewMainWindow::onEyeToHandTransform);
    QAction* actEyeInHand = transformMenu->addAction("眼在手上...");
    connect(actEyeInHand, &QAction::triggered, this, &CloudViewMainWindow::onEyeInHandTransform);
    // 创建中央控件
    QWidget* centralWidget = new QWidget(this);
    setCentralWidget(centralWidget);

    // 创建主布局
    QHBoxLayout* mainLayout = new QHBoxLayout(centralWidget);
    mainLayout->setContentsMargins(5, 5, 5, 5);
    mainLayout->setSpacing(5);

    // 创建分割器
    QSplitter* splitter = new QSplitter(Qt::Horizontal, centralWidget);

    // 左侧：视图工具栏 + 点云显示区域
    QWidget* viewerContainer = new QWidget(splitter);
    QHBoxLayout* viewerLayout = new QHBoxLayout(viewerContainer);
    viewerLayout->setContentsMargins(0, 0, 0, 0);
    viewerLayout->setSpacing(2);

    // 视图方向工具栏（纵向排列，在3D视图左侧）
    QWidget* viewToolbar = createViewToolbar();
    viewerLayout->addWidget(viewToolbar);

    // 点云显示区域
    QWidget* viewerArea = createViewerArea();
    viewerLayout->addWidget(viewerArea);

    splitter->addWidget(viewerContainer);

    // 右侧：控制面板
    QWidget* controlPanel = createControlPanel();
    splitter->addWidget(controlPanel);

    // 设置分割器初始大小（左侧 70%，右侧 30%）
    splitter->setSizes({700, 300});

    mainLayout->addWidget(splitter);

    // 状态栏
    statusBar()->showMessage("就绪");
}

QWidget* CloudViewMainWindow::createViewerArea()
{
    QWidget* widget = new QWidget(this);
    QVBoxLayout* layout = new QVBoxLayout(widget);
    layout->setContentsMargins(0, 0, 0, 0);

    m_glWidget = new PointCloudGLWidget(widget);
    m_glWidget->setMinimumSize(400, 300);
    m_glWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
    layout->addWidget(m_glWidget);

    // 悬浮缩放按钮（父控件为 m_glWidget，悬浮在右侧中间）
    int zoomBtnSize = 28;
    QString zoomBtnStyle =
        "QToolButton {"
        "  background-color: rgba(50, 50, 50, 180);"
        "  color: white;"
        "  border: 1px solid rgba(120, 120, 120, 150);"
        "  border-radius: 4px;"
        "  font-size: 32px;"
        "  font-weight: bold;"
        "}"
        "QToolButton:hover {"
        "  background-color: rgba(80, 80, 80, 220);"
        "}"
        "QToolButton:pressed {"
        "  background-color: rgba(30, 30, 30, 240);"
        "}";

    m_btnZoomIn = new QToolButton(m_glWidget);
    m_btnZoomIn->setText("+");
    m_btnZoomIn->setFixedSize(zoomBtnSize, zoomBtnSize);
    m_btnZoomIn->setStyleSheet(zoomBtnStyle);
    m_btnZoomIn->setAutoRepeat(true);
    m_btnZoomIn->setAutoRepeatDelay(300);
    m_btnZoomIn->setAutoRepeatInterval(50);
    connect(m_btnZoomIn, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomIn);

    m_btnZoomOut = new QToolButton(m_glWidget);
    m_btnZoomOut->setText("-");
    m_btnZoomOut->setFixedSize(zoomBtnSize, zoomBtnSize);
    m_btnZoomOut->setStyleSheet(zoomBtnStyle);
    m_btnZoomOut->setAutoRepeat(true);
    m_btnZoomOut->setAutoRepeatDelay(300);
    m_btnZoomOut->setAutoRepeatInterval(50);
    connect(m_btnZoomOut, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomOut);

    // 安装事件过滤器，在 GL 控件 resize 时更新按钮位置
    m_glWidget->installEventFilter(this);

    // 连接信号
    connect(m_glWidget, &PointCloudGLWidget::pointSelected, this, &CloudViewMainWindow::onPointSelected);
    connect(m_glWidget, &PointCloudGLWidget::twoPointsSelected, this, &CloudViewMainWindow::onTwoPointsSelected);
    connect(m_glWidget, &PointCloudGLWidget::lineSelected, this, &CloudViewMainWindow::onLineSelected);
    connect(m_glWidget, &PointCloudGLWidget::viewAnglesChanged, this, &CloudViewMainWindow::onViewAnglesChanged);

    return widget;
}

QWidget* CloudViewMainWindow::createControlPanel()
{
    QWidget* widget = new QWidget(this);
    widget->setMaximumWidth(350);
    QVBoxLayout* layout = new QVBoxLayout(widget);
    layout->setContentsMargins(5, 5, 5, 5);
    layout->setSpacing(5);

    // 文件操作组
    layout->addWidget(createFileGroup());

    // 创建 Tab 控件
    QTabWidget* tabWidget = new QTabWidget(widget);
    tabWidget->addTab(createMeasurePage(), "选点测距");
    tabWidget->addTab(createLinePage(), "选线");
    layout->addWidget(tabWidget);

    // 点云列表组
    layout->addWidget(createCloudListGroup());

    // 添加弹性空间
    layout->addStretch();

    return widget;
}

QGroupBox* CloudViewMainWindow::createFileGroup()
{
    QGroupBox* group = new QGroupBox("文件操作", this);
    group->setMaximumWidth(350);
    QVBoxLayout* layout = new QVBoxLayout(group);
    layout->setSpacing(3);
    layout->setContentsMargins(5, 5, 5, 5);

    m_btnOpenFile = new QPushButton("打开文件", group);
    m_btnOpenFile->setMinimumHeight(24);
    m_btnOpenFile->setMaximumHeight(24);
    connect(m_btnOpenFile, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenFile);
    layout->addWidget(m_btnOpenFile);

    m_btnOpenPose = new QPushButton("打开姿态点 {x,y,z}-{r,p,y}", group);
    m_btnOpenPose->setMinimumHeight(24);
    m_btnOpenPose->setMaximumHeight(24);
    connect(m_btnOpenPose, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenPoseFile);
    layout->addWidget(m_btnOpenPose);

    m_btnOpenBBox = new QPushButton("加载包围盒 (grasp.json)", group);
    m_btnOpenBBox->setMinimumHeight(24);
    m_btnOpenBBox->setMaximumHeight(24);
    connect(m_btnOpenBBox, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenBBoxFile);
    layout->addWidget(m_btnOpenBBox);

    m_btnClearAll = new QPushButton("清除所有", group);
    m_btnClearAll->setMinimumHeight(24);
    m_btnClearAll->setMaximumHeight(24);
    connect(m_btnClearAll, &QPushButton::clicked, this, &CloudViewMainWindow::onClearAll);
    layout->addWidget(m_btnClearAll);

    return group;
}

QWidget* CloudViewMainWindow::createViewToolbar()
{
    QWidget* widget = new QWidget(this);
    QVBoxLayout* layout = new QVBoxLayout(widget);
    layout->setContentsMargins(2, 2, 2, 2);
    layout->setSpacing(3);

    // 视图预设：图标、提示、旋转角度
    struct ViewPreset {
        const char* iconPath;
        const char* tooltip;
        float rotX;
        float rotY;
        float rotZ;
    };

    // 坐标系定义：X向右，Y向下，Z朝后
    ViewPreset presets[] = {
        {":/common/resource/view_front.png",  "正视 (XY面)",   180.0f,    0.0f,   0.0f},
        {":/common/resource/view_back.png",   "后视",          180.0f,  180.0f,   0.0f},
        {":/common/resource/view_left.png",   "左视 (YZ面)",   180.0f,   90.0f,   0.0f},
        {":/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;
    int iconSize = 24;

    for (const auto& preset : presets) {
        QToolButton* btn = new QToolButton(widget);
        btn->setIcon(QIcon(preset.iconPath));
        btn->setIconSize(QSize(iconSize, iconSize));
        btn->setFixedSize(btnSize, btnSize);
        btn->setToolTip(preset.tooltip);
        btn->setAutoRaise(true);

        float rx = preset.rotX;
        float ry = preset.rotY;
        float rz = preset.rotZ;
        connect(btn, &QToolButton::clicked, this, [this, rx, ry, rz]() {
            m_glWidget->setViewAngles(rx, ry, rz);
            m_editRotX->setText(QString::number(rx, 'f', 1));
            m_editRotY->setText(QString::number(ry, 'f', 1));
            m_editRotZ->setText(QString::number(rz, 'f', 1));
        });
        layout->addWidget(btn);
    }

    layout->addStretch();

    // 旋转角度输入（纵向紧凑布局）
    m_editRotX = new QLineEdit("180.0", widget);
    m_editRotY = new QLineEdit("0.0", widget);
    m_editRotZ = new QLineEdit("0.0", widget);

    auto makeAngleRow = [&](const QString& label, QLineEdit* edit) {
        QWidget* row = new QWidget(widget);
        QVBoxLayout* rowLayout = new QVBoxLayout(row);
        rowLayout->setContentsMargins(0, 0, 0, 0);
        rowLayout->setSpacing(0);
        QLabel* lbl = new QLabel(label, row);
        lbl->setStyleSheet("font-size: 10px; color: gray;");
        rowLayout->addWidget(lbl);
        edit->setFixedWidth(btnSize);
        edit->setMaximumHeight(20);
        edit->setStyleSheet("font-size: 10px;");
        rowLayout->addWidget(edit);
        return row;
    };

    layout->addWidget(makeAngleRow("RX", m_editRotX));
    layout->addWidget(makeAngleRow("RY", m_editRotY));
    layout->addWidget(makeAngleRow("RZ", m_editRotZ));

    // 应用按钮
    QPushButton* btnApply = new QPushButton("GO", widget);
    btnApply->setFixedSize(btnSize, 20);
    btnApply->setStyleSheet("font-size: 10px;");
    auto applyAngles = [this]() {
        bool okX, okY, okZ;
        float rotX = m_editRotX->text().toFloat(&okX);
        float rotY = m_editRotY->text().toFloat(&okY);
        float rotZ = m_editRotZ->text().toFloat(&okZ);
        if (okX && okY && okZ) {
            m_glWidget->setViewAngles(rotX, rotY, rotZ);
        }
    };
    connect(btnApply, &QPushButton::clicked, this, applyAngles);
    connect(m_editRotX, &QLineEdit::returnPressed, this, applyAngles);
    connect(m_editRotY, &QLineEdit::returnPressed, this, applyAngles);
    connect(m_editRotZ, &QLineEdit::returnPressed, this, applyAngles);
    layout->addWidget(btnApply);

    widget->setFixedWidth(btnSize + 8);
    return widget;
}

QWidget* CloudViewMainWindow::createMeasurePage()
{
    QWidget* page = new QWidget(this);
    QVBoxLayout* layout = new QVBoxLayout(page);
    layout->setContentsMargins(0, 5, 0, 0);
    layout->addWidget(createMeasureGroup());
    layout->addStretch();
    return page;
}

QWidget* CloudViewMainWindow::createLinePage()
{
    QWidget* page = new QWidget(this);
    QVBoxLayout* layout = new QVBoxLayout(page);
    layout->setContentsMargins(0, 5, 0, 0);

    // 选线拟合组
    layout->addWidget(createLineGroup());

    // 输入线段组
    QGroupBox* inputLineGroup = new QGroupBox("输入线段", page);
    QVBoxLayout* inputLayout = new QVBoxLayout(inputLineGroup);

    // 提示
    QLabel* lblTip = new QLabel("输入两点坐标显示线段", inputLineGroup);
    lblTip->setStyleSheet("color: gray; font-size: 10px;");
    inputLayout->addWidget(lblTip);

    // 点1坐标
    QLabel* lblPoint1 = new QLabel("点1:", inputLineGroup);
    lblPoint1->setStyleSheet("font-weight: bold;");
    inputLayout->addWidget(lblPoint1);

    QHBoxLayout* p1Layout = new QHBoxLayout();
    p1Layout->addWidget(new QLabel("X:", inputLineGroup));
    m_editLineX1 = new QLineEdit("0.0", inputLineGroup);
    m_editLineX1->setMaximumWidth(70);
    p1Layout->addWidget(m_editLineX1);

    p1Layout->addWidget(new QLabel("Y:", inputLineGroup));
    m_editLineY1 = new QLineEdit("0.0", inputLineGroup);
    m_editLineY1->setMaximumWidth(70);
    p1Layout->addWidget(m_editLineY1);

    p1Layout->addWidget(new QLabel("Z:", inputLineGroup));
    m_editLineZ1 = new QLineEdit("0.0", inputLineGroup);
    m_editLineZ1->setMaximumWidth(70);
    p1Layout->addWidget(m_editLineZ1);
    inputLayout->addLayout(p1Layout);

    // 点2坐标
    QLabel* lblPoint2 = new QLabel("点2:", inputLineGroup);
    lblPoint2->setStyleSheet("font-weight: bold;");
    inputLayout->addWidget(lblPoint2);

    QHBoxLayout* p2Layout = new QHBoxLayout();
    p2Layout->addWidget(new QLabel("X:", inputLineGroup));
    m_editLineX2 = new QLineEdit("100.0", inputLineGroup);
    m_editLineX2->setMaximumWidth(70);
    p2Layout->addWidget(m_editLineX2);

    p2Layout->addWidget(new QLabel("Y:", inputLineGroup));
    m_editLineY2 = new QLineEdit("100.0", inputLineGroup);
    m_editLineY2->setMaximumWidth(70);
    p2Layout->addWidget(m_editLineY2);

    p2Layout->addWidget(new QLabel("Z:", inputLineGroup));
    m_editLineZ2 = new QLineEdit("100.0", inputLineGroup);
    m_editLineZ2->setMaximumWidth(70);
    p2Layout->addWidget(m_editLineZ2);
    inputLayout->addLayout(p2Layout);

    // 按钮
    QHBoxLayout* btnLayout = new QHBoxLayout();
    m_btnShowLine = new QPushButton("显示线段", inputLineGroup);
    connect(m_btnShowLine, &QPushButton::clicked, this, &CloudViewMainWindow::onShowInputLine);
    btnLayout->addWidget(m_btnShowLine);

    m_btnClearLine2 = new QPushButton("清除线段", inputLineGroup);
    connect(m_btnClearLine2, &QPushButton::clicked, this, &CloudViewMainWindow::onClearInputLine);
    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;
}

QGroupBox* CloudViewMainWindow::createMeasureGroup()
{
    QGroupBox* group = new QGroupBox("选点测距", this);
    group->setMaximumWidth(350);
    QVBoxLayout* layout = new QVBoxLayout(group);
    layout->setSpacing(4);
    layout->setContentsMargins(5, 5, 5, 5);

    // 操作说明
    QLabel* lblTip = new QLabel("Ctrl+左键点击点云选择点", group);
    lblTip->setWordWrap(true);
    lblTip->setStyleSheet("color: gray; font-size: 12px;");
    layout->addWidget(lblTip);
    // 测距复选框
    m_cbMeasureDistance = new QCheckBox("启用测距", group);
    m_cbMeasureDistance->setChecked(false);
    connect(m_cbMeasureDistance, &QCheckBox::toggled, this, [this](bool checked) {
        m_glWidget->setMeasureDistanceEnabled(checked);
        m_glWidget->clearSelectedPoints();
        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);

    // 清除选点按钮
    m_btnClearPoints = new QPushButton("清除选点", group);
    m_btnClearPoints->setMinimumHeight(24);
    connect(m_btnClearPoints, &QPushButton::clicked, this, &CloudViewMainWindow::onClearSelectedPoints);
    layout->addWidget(m_btnClearPoints);

    // 分隔线
    QFrame* line1 = new QFrame(group);
    line1->setFrameShape(QFrame::HLine);
    line1->setFrameShadow(QFrame::Sunken);
    layout->addWidget(line1);

    // 点1信息（坐标直接显示在标题后）
    m_lblPoint1 = new QLabel("点1: --", group);
    m_lblPoint1->setWordWrap(true);
    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);
    pose1Layout->addWidget(new QLabel("RX:", group));
    m_editRx1 = new QLineEdit("0.0", group);
    m_editRx1->setMaximumWidth(50);
    pose1Layout->addWidget(m_editRx1);

    pose1Layout->addWidget(new QLabel("RY:", group));
    m_editRy1 = new QLineEdit("0.0", group);
    m_editRy1->setMaximumWidth(50);
    pose1Layout->addWidget(m_editRy1);

    pose1Layout->addWidget(new QLabel("RZ:", group));
    m_editRz1 = new QLineEdit("0.0", group);
    m_editRz1->setMaximumWidth(50);
    pose1Layout->addWidget(m_editRz1);
    pose1Layout->addStretch();
    layout->addLayout(pose1Layout);

    m_btnShowPose1 = new QPushButton("显示点1姿态", group);
    m_btnShowPose1->setMinimumHeight(24);
    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);
    line2->setFrameShadow(QFrame::Sunken);
    layout->addWidget(line2);

    // 点2信息（坐标直接显示在标题后）
    m_lblPoint2 = new QLabel("点2: --", group);
    m_lblPoint2->setWordWrap(true);
    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);
    pose2Layout->addWidget(new QLabel("RX:", group));
    m_editRx2 = new QLineEdit("0.0", group);
    m_editRx2->setMaximumWidth(50);
    pose2Layout->addWidget(m_editRx2);

    pose2Layout->addWidget(new QLabel("RY:", group));
    m_editRy2 = new QLineEdit("0.0", group);
    m_editRy2->setMaximumWidth(50);
    pose2Layout->addWidget(m_editRy2);

    pose2Layout->addWidget(new QLabel("RZ:", group));
    m_editRz2 = new QLineEdit("0.0", group);
    m_editRz2->setMaximumWidth(50);
    pose2Layout->addWidget(m_editRz2);
    pose2Layout->addStretch();
    layout->addLayout(pose2Layout);

    m_btnShowPose2 = new QPushButton("显示点2姿态", group);
    m_btnShowPose2->setMinimumHeight(24);
    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);

    // 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);
    line3->setFrameShadow(QFrame::Sunken);
    layout->addWidget(line3);

    // 欧拉角旋转顺序选择
    QLabel* lblEulerOrder = new QLabel("欧拉角旋转顺序:", group);
    lblEulerOrder->setStyleSheet("font-weight: bold; font-size: 10px;");
    layout->addWidget(lblEulerOrder);

    m_comboEulerOrder = new QComboBox(group);
    m_comboEulerOrder->addItem("ZYX (Yaw-Pitch-Roll)", static_cast<int>(EulerRotationOrder::ZYX));
    m_comboEulerOrder->addItem("XYZ (Roll-Pitch-Yaw)", static_cast<int>(EulerRotationOrder::XYZ));
    m_comboEulerOrder->addItem("ZXY (Yaw-Roll-Pitch)", static_cast<int>(EulerRotationOrder::ZXY));
    m_comboEulerOrder->addItem("YXZ (Pitch-Roll-Yaw)", static_cast<int>(EulerRotationOrder::YXZ));
    m_comboEulerOrder->addItem("XZY (Roll-Yaw-Pitch)", static_cast<int>(EulerRotationOrder::XZY));
    m_comboEulerOrder->addItem("YZX (Pitch-Yaw-Roll)", static_cast<int>(EulerRotationOrder::YZX));
    m_comboEulerOrder->setCurrentIndex(0);
    m_comboEulerOrder->setMaximumHeight(24);
    connect(m_comboEulerOrder, QOverload<int>::of(&QComboBox::currentIndexChanged),
            this, &CloudViewMainWindow::onEulerOrderChanged);
    layout->addWidget(m_comboEulerOrder);

    // 分隔线
    QFrame* line4 = new QFrame(group);
    line4->setFrameShape(QFrame::HLine);
    line4->setFrameShadow(QFrame::Sunken);
    layout->addWidget(line4);

    // 距离信息
    QHBoxLayout* distLayout = new QHBoxLayout();
    QLabel* lblDistTitle = new QLabel("距离:", group);
    lblDistTitle->setStyleSheet("font-size: 10px;");
    m_lblDistance = new QLabel("--", group);
    m_lblDistance->setStyleSheet("font-weight: bold; color: green; font-size: 20px;");
    distLayout->addWidget(lblDistTitle);
    distLayout->addWidget(m_lblDistance, 1);
    layout->addLayout(distLayout);

    return group;
}

QGroupBox* CloudViewMainWindow::createLineGroup()
{
    QGroupBox* group = new QGroupBox("选线", this);
    group->setMaximumWidth(400);
    QVBoxLayout* layout = new QVBoxLayout(group);
    layout->setSpacing(3);
    layout->setContentsMargins(5, 5, 5, 5);

    // 操作说明
    QLabel* lblTip = new QLabel("Shift+左键点击点云选择线", group);
    lblTip->setWordWrap(true);
    lblTip->setStyleSheet("color: gray; font-size: 9px;");
    layout->addWidget(lblTip);

    // 选线模式选择
    QHBoxLayout* modeLayout = new QHBoxLayout();
    modeLayout->setSpacing(5);
    m_rbVertical = new QRadioButton("纵向", group);
    m_rbHorizontal = new QRadioButton("横向", group);
    m_rbVertical->setChecked(true);
    connect(m_rbVertical, &QRadioButton::toggled, this, &CloudViewMainWindow::onLineSelectModeChanged);
    modeLayout->addWidget(m_rbVertical);
    modeLayout->addWidget(m_rbHorizontal);
    modeLayout->addStretch();
    layout->addLayout(modeLayout);

    // 输入索引选择
    QHBoxLayout* inputLayout = new QHBoxLayout();
    inputLayout->setSpacing(5);
    m_lineNumberInput = new QLineEdit(group);
    m_lineNumberInput->setPlaceholderText("输入索引");
    m_lineNumberInput->setMaximumHeight(24);
    m_btnSelectByNumber = new QPushButton("选择", group);
    m_btnSelectByNumber->setMaximumHeight(24);
    m_btnSelectByNumber->setMaximumWidth(50);
    connect(m_btnSelectByNumber, &QPushButton::clicked, this, &CloudViewMainWindow::onSelectLineByNumber);
    connect(m_lineNumberInput, &QLineEdit::returnPressed, this, &CloudViewMainWindow::onSelectLineByNumber);
    inputLayout->addWidget(m_lineNumberInput, 1);
    inputLayout->addWidget(m_btnSelectByNumber);
    layout->addLayout(inputLayout);

    // 清除选线按钮
    m_btnClearLine = new QPushButton("清除选线", group);
    m_btnClearLine->setMinimumHeight(24);
    connect(m_btnClearLine, &QPushButton::clicked, this, &CloudViewMainWindow::onClearLinePoints);
    layout->addWidget(m_btnClearLine);

    // 显示线上点按钮
    m_btnShowLinePoints = new QPushButton("显示线上点", group);
    m_btnShowLinePoints->setMinimumHeight(24);
    connect(m_btnShowLinePoints, &QPushButton::clicked, this, &CloudViewMainWindow::onShowLinePoints);
    layout->addWidget(m_btnShowLinePoints);

    // 线索引信息
    QHBoxLayout* indexLayout = new QHBoxLayout();
    QLabel* lblIndexTitle = new QLabel("索引:", group);
    lblIndexTitle->setStyleSheet("font-size: 10px;");
    m_lblLineIndex = new QLabel("--", group);
    m_lblLineIndex->setStyleSheet("font-size: 10px;");
    indexLayout->addWidget(lblIndexTitle);
    indexLayout->addWidget(m_lblLineIndex, 1);
    layout->addLayout(indexLayout);

    // 点数信息
    QHBoxLayout* countLayout = new QHBoxLayout();
    QLabel* lblCountTitle = new QLabel("点数:", group);
    lblCountTitle->setStyleSheet("font-size: 10px;");
    m_lblLinePointCount = new QLabel("--", group);
    m_lblLinePointCount->setStyleSheet("font-size: 10px;");
    countLayout->addWidget(lblCountTitle);
    countLayout->addWidget(m_lblLinePointCount, 1);
    layout->addLayout(countLayout);

    return group;
}

QGroupBox* CloudViewMainWindow::createCloudListGroup()
{
    QGroupBox* group = new QGroupBox("点云列表", this);
    group->setMaximumWidth(350);
    QVBoxLayout* layout = new QVBoxLayout(group);
    layout->setSpacing(3);
    layout->setContentsMargins(5, 5, 5, 5);

    m_cloudList = new QListWidget(group);
    m_cloudList->setMinimumHeight(70);
    layout->addWidget(m_cloudList);

    return group;
}

void CloudViewMainWindow::onOpenFile()
{
    // 如果已有打开的文件，提示是否清除
    if (m_cloudList->count() > 0) {
        auto ret = QMessageBox::question(this, "提示",
            "当前已有打开的文件，是否清除？",
            QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
        if (ret == QMessageBox::Cancel) {
            return;
        }
        if (ret == QMessageBox::Yes) {
            onClearAll();
        }
    }

    QString fileName = QFileDialog::getOpenFileName(
        this,
        "打开文件",
        QString(),
        "所有支持格式 (*.pcd *.ply *.txt);;PCD 文件 (*.pcd);;PLY 文件 (*.ply);;TXT 文件 (*.txt);;所有文件 (*.*)"
    );

    if (fileName.isEmpty()) {
        return;
    }

    // 同一文件中可能同时包含点云和线段，两者都尝试加载
    bool cloudOk = loadPointCloudFile(fileName);
    bool segmentOk = loadSegmentFile(fileName);

    if (!cloudOk && !segmentOk) {
        QMessageBox::critical(this, "错误", "无法从文件中加载点云或线段数据");
        statusBar()->showMessage("加载失败");
    }
}

bool CloudViewMainWindow::loadPointCloudFile(const QString& fileName)
{
    statusBar()->showMessage("正在加载点云...");

    QFileInfo fileInfo(fileName);
    QString ext = fileInfo.suffix().toLower();
    QString cloudName = QString("Cloud_%1 (%2)").arg(++m_cloudCount).arg(fileInfo.fileName());

    // 统一使用 PointCloudXYZRGB 加载，支持带颜色和不带颜色的文件
    PointCloudXYZRGB rgbCloud;
    int result = m_converter->loadFromFile(fileName.toStdString(), rgbCloud);

    if (result != 0) {
        LOG_INFO("[CloudView] Load point cloud failed: %s\n", m_converter->getLastError().c_str());
        return false;
    }

    // 保存原始完整点云 XYZ（用于旋转/线上点等功能）
    m_originalCloud.clear();
    m_originalCloud.reserve(rgbCloud.size());
    for (size_t i = 0; i < rgbCloud.points.size(); ++i) {
        const auto& pt = rgbCloud.points[i];
        Point3D xyzPt(pt.x, pt.y, pt.z);
        int lineIdx = (i < rgbCloud.lineIndices.size()) ? rgbCloud.lineIndices[i] : 0;
        m_originalCloud.push_back(xyzPt, lineIdx);
    }

    // 根据是否有颜色选择显示方式
    bool hadColor = m_converter->lastLoadHadColor();

    if (ext == "pcd" || ext == "ply") {
        // PCD/PLY 文件始终走 XYZRGB 路径，避免被颜色轮换表染成蓝色等
        if (!hadColor) {
            // 无 rgb 字段：默认灰色显示
            for (size_t i = 0; i < rgbCloud.points.size(); ++i) {
                rgbCloud.points[i].r = 192;
                rgbCloud.points[i].g = 192;
                rgbCloud.points[i].b = 192;
            }
        }
        m_glWidget->addPointCloud(rgbCloud, cloudName);
        LOG_INFO("[CloudView] PCD/PLY loaded with XYZRGB path (hasRgbField=%d), points: %zu\n",
                 m_converter->lastLoadHadColor(), rgbCloud.size());
    } else if (hadColor) {
        m_glWidget->addPointCloud(rgbCloud, cloudName);
        LOG_INFO("[CloudView] Loaded with original color, points: %zu\n", rgbCloud.size());
    } else {
        m_glWidget->addPointCloud(m_originalCloud, cloudName);
        LOG_INFO("[CloudView] Loaded without color (color table), points: %zu\n", m_originalCloud.size());
    }

    // 保存线信息（用于旋转功能）
    int lineCount = m_converter->getLoadedLineCount();
    if (lineCount > 0) {
        m_currentLineNum = lineCount;
        m_currentLinePtNum = static_cast<int>(m_converter->getLoadedPointCount()) / lineCount;
    } else {
        m_currentLineNum = 0;
        m_currentLinePtNum = 0;
    }

    // 添加到列表
    QString itemText;
    if (lineCount > 0) {
        itemText = QString("%1 - %2 点, %3 线").arg(cloudName).arg(m_converter->getLoadedPointCount()).arg(lineCount);
    } else {
        itemText = QString("%1 - %2 点").arg(cloudName).arg(m_converter->getLoadedPointCount());
    }
    if (hadColor) {
        itemText += " [彩色]";
    }
    m_cloudList->addItem(itemText);

    statusBar()->showMessage(QString("已加载 %1 个点%2").arg(m_converter->getLoadedPointCount()).arg(hadColor ? " (彩色)" : ""));
    return true;
}

bool CloudViewMainWindow::loadSegmentFile(const QString& fileName)
{
    statusBar()->showMessage("正在加载线段...");

    LaserDataLoader loader;
    std::vector<std::vector<SVzNLPointXYZRGBA>> polyLines;
    int result = loader.LoadPolySegments(fileName.toStdString(), polyLines);

    if (result != 0) {
        LOG_INFO("[CloudView] Load segments failed: %s\n", loader.GetLastError().c_str());
        return false;
    }

    if (polyLines.empty()) {
        return false;
    }

    // 将折线点转换为线段（使用点自带的颜色）
    QVector<LineSegment> segments;
    for (const auto& polyLine : polyLines) {
        for (size_t i = 0; i + 1 < polyLine.size(); ++i) {
            const auto& p1 = polyLine[i];
            const auto& p2 = polyLine[i + 1];
            // 取起点颜色作为线段颜色，nRGB 为 (A<<24)|BGR 打包格式
            float r = ((p1.nRGB >> 0) & 0xFF) / 255.0f;
            float g = ((p1.nRGB >> 8) & 0xFF) / 255.0f;
            float b = ((p1.nRGB >> 16) & 0xFF) / 255.0f;
            uint8_t a = static_cast<uint8_t>((p1.nRGB >> 24) & 0xFF);
            // A > 1 时作为线宽使用
            float lineWidth = (a > 1) ? static_cast<float>(a) : 0.0f;
            segments.append(LineSegment(
                p1.x, p1.y, p1.z,
                p2.x, p2.y, p2.z,
                r, g, b, lineWidth));
        }
    }

    if (segments.isEmpty()) {
        return false;
    }

    m_glWidget->addLineSegments(segments);

    // 添加到列表
    QFileInfo fileInfo(fileName);
    int totalPolyCount = static_cast<int>(polyLines.size());
    QString itemName = QString("Segments (%1)").arg(fileInfo.fileName());
    m_cloudList->addItem(QString("%1 - %2 条折线, %3 条线段")
        .arg(itemName).arg(totalPolyCount).arg(segments.size()));

    statusBar()->showMessage(QString("已加载 %1 条折线, %2 条线段").arg(totalPolyCount).arg(segments.size()));
    LOG_INFO("[CloudView] Loaded %d polylines, %d segments from %s\n",
             totalPolyCount, segments.size(), fileName.toStdString().c_str());
    return true;
}

void CloudViewMainWindow::onOpenPoseFile()
{
    QString fileName = QFileDialog::getOpenFileName(
        this,
        "打开姿态点文件",
        QString(),
        "文本文件 (*.txt);;所有文件 (*.*)"
    );

    if (fileName.isEmpty()) {
        return;
    }

    statusBar()->showMessage("正在加载姿态点...");

    QFile file(fileName);
    #if 0
    if (false) {
        if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
            QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
            return;
        }

        QTextStream in(&file);
        const QString matrixText = in.readAll();
        file.close();

        QMatrix4x4 matrix;
        QString errorMessage;
        if (!parseMatrixText(matrixText, matrix, &errorMessage)) {
            QMessageBox::warning(this, "格式错误", errorMessage);
            return;
        }

        m_matrixEdit->setPlainText(formatMatrixText(matrix));
        statusBar()->showMessage(QString("已从 %1 加载矩阵").arg(QFileInfo(fileName).fileName()));
        LOG_INFO("[CloudView] Loaded matrix from %s\n", fileName.toStdString().c_str());
        return;
    }
    #endif
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
        QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
        statusBar()->showMessage("加载失败");
        return;
    }

    QVector<PosePoint> poses;
    QTextStream in(&file);
    int lineNum = 0;
    int validCount = 0;

    while (!in.atEnd()) {
        QString line = in.readLine().trimmed();
        lineNum++;

        // 跳过空行和注释
        if (line.isEmpty() || line.startsWith('#')) {
            continue;
        }

        // 解析格式：{x,y,z}-{r,p,y}
        QRegExp regex("\\{([^}]+)\\}-\\{([^}]+)\\}");
        if (regex.indexIn(line) == -1) {
            LOG_WARN("[CloudView] Line %d: Invalid format, expected {x,y,z}-{r,p,y}\n", lineNum);
            continue;
        }

        QString posStr = regex.cap(1);
        QString rotStr = regex.cap(2);

        QStringList pos = posStr.split(',');
        QStringList rot = rotStr.split(',');

        if (pos.size() != 3 || rot.size() != 3) {
            LOG_WARN("[CloudView] Line %d: Invalid point format\n", lineNum);
            continue;
        }

        bool ok = true;
        float x = pos[0].toFloat(&ok); if (!ok) continue;
        float y = pos[1].toFloat(&ok); if (!ok) continue;
        float z = pos[2].toFloat(&ok); if (!ok) continue;
        float roll = rot[0].toFloat(&ok); if (!ok) continue;
        float pitch = rot[1].toFloat(&ok); if (!ok) continue;
        float yaw = rot[2].toFloat(&ok); if (!ok) continue;

        // 使用界面上配置的坐标轴长度
        bool scaleOk = true;
        float scale = m_editPoseScale->text().toFloat(&scaleOk);
        if (!scaleOk || scale <= 0) scale = 10.0f;

        poses.append(PosePoint(x, y, z, roll, pitch, yaw, scale));
        validCount++;
    }

    file.close();

    if (poses.isEmpty()) {
        QMessageBox::warning(this, "警告", "文件中没有有效的姿态点数据");
        statusBar()->showMessage("加载失败");
        return;
    }

    m_glWidget->addPosePoints(poses);
    statusBar()->showMessage(QString("已加载 %1 个姿态点").arg(validCount));
    LOG_INFO("[CloudView] Loaded %d pose points from %s\n", validCount, fileName.toStdString().c_str());
}

void CloudViewMainWindow::onOpenBBoxFile()
{
    QString fileName = QFileDialog::getOpenFileName(
        this,
        "打开包围盒文件",
        QString(),
        "JSON 文件 (*.json);;所有文件 (*.*)"
    );

    if (fileName.isEmpty()) {
        return;
    }

    if (!loadBoundingBoxFile(fileName)) {
        QMessageBox::critical(this, "错误", "无法加载包围盒数据");
        statusBar()->showMessage("加载失败");
    }
}

bool CloudViewMainWindow::loadBoundingBoxFile(const QString& fileName)
{
    QFile file(fileName);
    if (!file.open(QIODevice::ReadOnly)) {
        LOG_INFO("[CloudView] Cannot open bbox file: %s\n", fileName.toStdString().c_str());
        return false;
    }

    QByteArray data = file.readAll();
    file.close();

    QJsonParseError parseError;
    QJsonDocument doc = QJsonDocument::fromJson(data, &parseError);
    if (doc.isNull()) {
        LOG_INFO("[CloudView] JSON parse error: %s\n", parseError.errorString().toStdString().c_str());
        return false;
    }

    QJsonObject root = doc.object();
    QJsonArray records = root["records"].toArray();
    if (records.isEmpty()) {
        LOG_INFO("[CloudView] No records in bbox file\n");
        return false;
    }

    // 包围盒8个顶点的12条边索引
    // 底面: 0-1, 1-2, 2-3, 3-0
    // 顶面: 4-5, 5-6, 6-7, 7-4
    // 立柱: 0-4, 1-5, 2-6, 3-7
    static const int edgeIndices[][2] = {
        {0, 1}, {1, 2}, {2, 3}, {3, 0},  // 底面
        {4, 5}, {5, 6}, {6, 7}, {7, 4},  // 顶面
        {0, 4}, {1, 5}, {2, 6}, {3, 7}   // 立柱
    };

    QVector<LineSegment> segments;
    QVector<PosePoint> graspPoses;
    int bboxCount = 0;

    // 为每个 record 使用不同的颜色
    const float colors[][3] = {
        {0.0f, 1.0f, 0.0f},   // 绿色
        {1.0f, 1.0f, 0.0f},   // 黄色
        {0.0f, 1.0f, 1.0f},   // 青色
        {1.0f, 0.5f, 0.0f},   // 橙色
        {1.0f, 0.0f, 1.0f},   // 紫色
        {0.5f, 1.0f, 0.5f},   // 浅绿
    };
    const int colorCount = sizeof(colors) / sizeof(colors[0]);

    // 使用界面上配置的坐标轴长度
    bool poseScaleOk = true;
    float poseScale = m_editPoseScale->text().toFloat(&poseScaleOk);
    if (!poseScaleOk || poseScale <= 0) poseScale = 10.0f;

    for (int i = 0; i < records.size(); ++i) {
        QJsonObject record = records[i].toObject();
        QJsonObject bbox = record["bounding_box"].toObject();
        QJsonArray vertices = bbox["vertices"].toArray();

        if (vertices.size() != 8) {
            LOG_WARN("[CloudView] Record %d: vertices count != 8, skip\n", i);
            continue;
        }

        // 解析8个顶点
        float vx[8], vy[8], vz[8];
        for (int j = 0; j < 8; ++j) {
            QJsonObject v = vertices[j].toObject();
            vx[j] = static_cast<float>(v["x"].toDouble());
            vy[j] = static_cast<float>(v["y"].toDouble());
            vz[j] = static_cast<float>(v["z"].toDouble());
        }

        // 选择颜色
        float r = colors[i % colorCount][0];
        float g = colors[i % colorCount][1];
        float b = colors[i % colorCount][2];

        // 生成12条边的线段
        for (const auto& edge : edgeIndices) {
            int a = edge[0];
            int b_idx = edge[1];
            segments.append(LineSegment(
                vx[a], vy[a], vz[a],
                vx[b_idx], vy[b_idx], vz[b_idx],
                r, g, b, 2.0f));
        }

        bboxCount++;

        // 解析抓取点（右抓取点）
        if (record.contains("has_right_point") && record["has_right_point"].toBool()) {
            QJsonObject graspPt = record["right_grasp_point"].toObject();
            QJsonObject pos = graspPt["position"].toObject();
            QJsonObject ori = graspPt["orientation"].toObject();

            float px = static_cast<float>(pos["x"].toDouble());
            float py = static_cast<float>(pos["y"].toDouble());
            float pz = static_cast<float>(pos["z"].toDouble());
            float roll = static_cast<float>(ori["roll"].toDouble());
            float pitch = static_cast<float>(ori["pitch"].toDouble());
            float yaw = static_cast<float>(ori["yaw"].toDouble());

            graspPoses.append(PosePoint(px, py, pz, roll, pitch, yaw, poseScale));
        }

        // 解析左抓取点
        if (record.contains("has_left_point") && record["has_left_point"].toBool()) {
            QJsonObject graspPt = record["left_grasp_point"].toObject();
            QJsonObject pos = graspPt["position"].toObject();
            QJsonObject ori = graspPt["orientation"].toObject();

            float px = static_cast<float>(pos["x"].toDouble());
            float py = static_cast<float>(pos["y"].toDouble());
            float pz = static_cast<float>(pos["z"].toDouble());
            float roll = static_cast<float>(ori["roll"].toDouble());
            float pitch = static_cast<float>(ori["pitch"].toDouble());
            float yaw = static_cast<float>(ori["yaw"].toDouble());

            graspPoses.append(PosePoint(px, py, pz, roll, pitch, yaw, poseScale));
        }
    }

    if (segments.isEmpty()) {
        return false;
    }

    m_glWidget->addLineSegments(segments);

    if (!graspPoses.isEmpty()) {
        m_glWidget->addPosePoints(graspPoses);
    }

    // 添加到列表
    QFileInfo fileInfo(fileName);
    QString itemName = QString("BBox (%1)").arg(fileInfo.fileName());
    QString itemText = QString("%1 - %2 个包围盒, %3 条边")
        .arg(itemName).arg(bboxCount).arg(segments.size());
    if (!graspPoses.isEmpty()) {
        itemText += QString(", %1 个抓取点").arg(graspPoses.size());
    }
    m_cloudList->addItem(itemText);

    statusBar()->showMessage(QString("已加载 %1 个包围盒").arg(bboxCount));
    LOG_INFO("[CloudView] Loaded %d bounding boxes, %d grasp points from %s\n",
             bboxCount, graspPoses.size(), fileName.toStdString().c_str());
    return true;
}

void CloudViewMainWindow::applyTransformToAllClouds(const QMatrix4x4& matrix)
{
    m_glWidget->transformAllClouds(matrix);
    transformPointCloud(m_originalCloud, matrix);

    m_glWidget->clearSelectedPoints();
    m_glWidget->clearSelectedLine();
    m_glWidget->clearListHighlightPoint();
    m_glWidget->clearLineSegments();
    m_glWidget->clearPosePoints();

    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("--");
    m_lblLineIndex->setText("--");
    m_lblLinePointCount->setText("--");
    m_currentLinePoints.clear();

    if (m_linePointsDialog && m_linePointsTable) {
        updateLinePointsDialog();
    }
}

void CloudViewMainWindow::addGeneratedCloud(const PointCloudXYZ& cloud, const QString& name)
{
    m_glWidget->clearSelectedPoints();
    m_glWidget->clearSelectedLine();
    m_glWidget->clearListHighlightPoint();

    const QString cloudName = QString("Cloud_%1 (%2)").arg(++m_cloudCount).arg(name);
    m_glWidget->addPointCloud(cloud, cloudName);

    m_originalCloud = cloud;
    m_currentLineNum = 0;
    m_currentLinePtNum = 0;

    m_cloudList->addItem(QString("%1 - %2 点 [生成]").arg(cloudName).arg(cloud.size()));
    statusBar()->showMessage(QString("已生成点云: %1，点数 %2").arg(name).arg(cloud.size()));
    LOG_INFO("[CloudView] Generated synthetic cloud: %s, points=%zu\n",
             cloudName.toStdString().c_str(), cloud.size());
}

void CloudViewMainWindow::onClearAll()
{
    m_glWidget->clearPointClouds();
    m_glWidget->clearLineSegments();
    m_glWidget->clearPosePoints();
    m_cloudList->clear();
    m_cloudCount = 0;
    m_currentLineNum = 0;
    m_currentLinePtNum = 0;
    m_originalCloud.clear();

    // 清除选点信息
    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("--");
    m_lblLinePointCount->setText("--");

    statusBar()->showMessage("已清除所有数据");
}

void CloudViewMainWindow::onResetView()
{
    m_glWidget->resetView();
    statusBar()->showMessage("视图已重置");
}

void CloudViewMainWindow::onClearSelectedPoints()
{
    m_glWidget->clearSelectedPoints();
    m_glWidget->clearPosePoints();  // 清除选点时也清除姿态
    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");
}

void CloudViewMainWindow::onPointSelected(const SelectedPointInfo& point)
{
    if (!point.valid) {
        return;
    }

    // 选择新点时清除之前的姿态显示
    m_glWidget->clearPosePoints();

    updateSelectedPointsDisplay();

    // 状态栏显示：坐标、线号、索引号
    QString statusMsg = QString("选中点: (%1, %2, %3)")
        .arg(point.x, 0, 'f', 3)
        .arg(point.y, 0, 'f', 3)
        .arg(point.z, 0, 'f', 3);
    if (point.lineIndex >= 0) {
        statusMsg += QString(" | 线号: %1").arg(point.lineIndex);
        if (point.pointIndexInLine >= 0) {
            statusMsg += QString(" | 索引号: %1").arg(point.pointIndexInLine);
        }
    }
    statusBar()->showMessage(statusMsg);
}

void CloudViewMainWindow::onTwoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance)
{
    updateSelectedPointsDisplay();
    m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
    statusBar()->showMessage(QString("测量距离: %1 mm").arg(distance, 0, 'f', 3));
}

void CloudViewMainWindow::updateSelectedPointsDisplay()
{
    auto selectedPoints = m_glWidget->getSelectedPoints();

    if (selectedPoints.size() >= 1 && selectedPoints[0].valid) {
        QString text;
        if (selectedPoints[0].lineIndex >= 0) {
            text = QString("点1: 线号:%1 点序:%2")
                .arg(selectedPoints[0].lineIndex)
                .arg(selectedPoints[0].pointIndexInLine);
        } else {
            text = QString("点1:");
        }
        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")
                .arg(selectedPoints[1].lineIndex)
                .arg(selectedPoints[1].pointIndexInLine);
        } else {
            text = QString("点2:");
        }
        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("--");
    }
}

void CloudViewMainWindow::onLineSelectModeChanged(bool checked)
{
    if (checked) {
        // 纵向模式
        m_glWidget->setLineSelectMode(LineSelectMode::Vertical);
    } else {
        // 横向模式
        m_glWidget->setLineSelectMode(LineSelectMode::Horizontal);
    }
    m_lineNumberInput->setPlaceholderText("输入索引");
}

void CloudViewMainWindow::onClearLinePoints()
{
    m_glWidget->clearSelectedLine();
    m_glWidget->clearListHighlightPoint();  // 清除列表选中的高亮点
    m_lblLineIndex->setText("--");
    m_lblLinePointCount->setText("--");
    statusBar()->showMessage("已清除选线");
}

void CloudViewMainWindow::onLineSelected(const SelectedLineInfo& line)
{
    // 重新选线时清除列表高亮点
    m_glWidget->clearListHighlightPoint();

    if (!line.valid) {
        m_lblLineIndex->setText("--");
        m_lblLinePointCount->setText("--");
        return;
    }

    // 状态栏显示：线号/索引号、线点数
    if (line.mode == LineSelectMode::Vertical) {
        m_lblLineIndex->setText(QString::number(line.lineIndex));
        statusBar()->showMessage(QString("选中线 | 线号: %1 | 线点数: %2")
            .arg(line.lineIndex)
            .arg(line.pointCount));
    } else {
        // 横向选线：显示索引号
        m_lblLineIndex->setText(QString::number(line.pointIndex));
        statusBar()->showMessage(QString("选中横向线 | 索引号: %1 | 线点数: %2")
            .arg(line.pointIndex)
            .arg(line.pointCount));
    }
    m_lblLinePointCount->setText(QString::number(line.pointCount));

    // 如果线上点对话框已打开，刷新内容
    updateLinePointsDialog();
}

void CloudViewMainWindow::onSelectLineByNumber()
{
    if (m_glWidget->getCloudCount() == 0) {
        QMessageBox::warning(this, "提示", "请先加载点云");
        return;
    }

    QString text = m_lineNumberInput->text().trimmed();
    if (text.isEmpty()) {
        QMessageBox::warning(this, "提示", "请输入索引");
        return;
    }

    bool ok;
    int index = text.toInt(&ok);
    if (!ok || index < 0) {
        QMessageBox::warning(this, "提示", "请输入有效的索引（非负整数）");
        return;
    }

    bool success = false;
    if (m_rbVertical->isChecked()) {
        // 纵向选线：直接使用索引
        success = m_glWidget->selectLineByIndex(index);
        if (!success) {
            QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index));
        }
    } else {
        // 横向选线：直接使用索引
        success = m_glWidget->selectHorizontalLineByIndex(index);
        if (!success) {
            QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index));
        }
    }
}

QVector<QVector3D> CloudViewMainWindow::getOriginalLinePoints(const SelectedLineInfo& lineInfo)
{
    QVector<QVector3D> points;

    if (!lineInfo.valid || m_originalCloud.empty()) {
        return points;
    }

    if (lineInfo.mode == LineSelectMode::Vertical) {
        // 纵向选线：获取同一条扫描线上的所有点
        for (size_t i = 0; i < m_originalCloud.points.size(); ++i) {
            if (i < m_originalCloud.lineIndices.size() &&
                m_originalCloud.lineIndices[i] == lineInfo.lineIndex) {
                const auto& pt = m_originalCloud.points[i];
                points.append(QVector3D(pt.x, pt.y, pt.z));
            }
        }
    } else {
        // 横向选线：获取所有线的相同索引点
        if (m_currentLinePtNum > 0 && lineInfo.pointIndex >= 0) {
            for (size_t i = 0; i < m_originalCloud.points.size(); ++i) {
                int originalIdx = static_cast<int>(i);
                if (originalIdx % m_currentLinePtNum == lineInfo.pointIndex) {
                    const auto& pt = m_originalCloud.points[i];
                    points.append(QVector3D(pt.x, pt.y, pt.z));
                }
            }
        }
    }

    return points;
}

void CloudViewMainWindow::updateLinePointsDialog()
{
    if (!m_linePointsDialog || !m_linePointsTable) {
        return;
    }

    SelectedLineInfo lineInfo = m_glWidget->getSelectedLine();
    if (!lineInfo.valid) {
        m_linePointsTable->setRowCount(0);
        m_linePointsDialog->setWindowTitle("线上点坐标");
        m_currentLinePoints.clear();
        return;
    }

    // 从原始数据获取线上点（包含0,0,0）
    m_currentLinePoints = getOriginalLinePoints(lineInfo);

    // 更新标题
    QString title;
    if (lineInfo.mode == LineSelectMode::Vertical) {
        title = QString("线上点坐标 - 线号: %1 (共 %2 个点)")
            .arg(lineInfo.lineIndex)
            .arg(m_currentLinePoints.size());
    } else {
        title = QString("线上点坐标 - 索引号: %1 (共 %2 个点)")
            .arg(lineInfo.pointIndex)
            .arg(m_currentLinePoints.size());
    }
    m_linePointsDialog->setWindowTitle(title);

    // 更新表格
    m_linePointsTable->setRowCount(m_currentLinePoints.size());

    // 斑马线颜色
    QColor evenColor(245, 245, 245);  // 浅灰色
    QColor oddColor(255, 255, 255);   // 白色

    for (int i = 0; i < m_currentLinePoints.size(); ++i) {
        const QVector3D& pt = m_currentLinePoints[i];
        QColor rowColor = (i % 2 == 0) ? evenColor : oddColor;

        // 序号
        QTableWidgetItem* indexItem = new QTableWidgetItem(QString::number(i));
        indexItem->setTextAlignment(Qt::AlignCenter);
        indexItem->setBackground(rowColor);
        indexItem->setFlags(indexItem->flags() & ~Qt::ItemIsEditable);
        m_linePointsTable->setItem(i, 0, indexItem);

        // X
        QTableWidgetItem* xItem = new QTableWidgetItem(QString::number(pt.x(), 'f', 3));
        xItem->setTextAlignment(Qt::AlignCenter);
        xItem->setBackground(rowColor);
        xItem->setFlags(xItem->flags() & ~Qt::ItemIsEditable);
        m_linePointsTable->setItem(i, 1, xItem);

        // Y
        QTableWidgetItem* yItem = new QTableWidgetItem(QString::number(pt.y(), 'f', 3));
        yItem->setTextAlignment(Qt::AlignCenter);
        yItem->setBackground(rowColor);
        yItem->setFlags(yItem->flags() & ~Qt::ItemIsEditable);
        m_linePointsTable->setItem(i, 2, yItem);

        // Z
        QTableWidgetItem* zItem = new QTableWidgetItem(QString::number(pt.z(), 'f', 3));
        zItem->setTextAlignment(Qt::AlignCenter);
        zItem->setBackground(rowColor);
        zItem->setFlags(zItem->flags() & ~Qt::ItemIsEditable);
        m_linePointsTable->setItem(i, 3, zItem);
    }
}

void CloudViewMainWindow::onShowLinePoints()
{
    SelectedLineInfo lineInfo = m_glWidget->getSelectedLine();
    if (!lineInfo.valid) {
        QMessageBox::warning(this, "提示", "请先选择一条线");
        return;
    }

    // 如果对话框已存在，刷新内容并显示
    if (m_linePointsDialog) {
        updateLinePointsDialog();
        m_linePointsDialog->raise();
        m_linePointsDialog->activateWindow();
        return;
    }

    // 创建对话框
    m_linePointsDialog = new QDialog(this);
    m_linePointsDialog->resize(450, 500);
    m_linePointsDialog->setAttribute(Qt::WA_DeleteOnClose);

    // 对话框关闭时清理指针
    connect(m_linePointsDialog, &QDialog::destroyed, this, [this]() {
        m_linePointsDialog = nullptr;
        m_linePointsTable = nullptr;
        m_currentLinePoints.clear();
        m_glWidget->clearListHighlightPoint();
    });

    QVBoxLayout* layout = new QVBoxLayout(m_linePointsDialog);

    // 提示标签
    QLabel* lblTip = new QLabel("点击行在3D视图中高亮显示", m_linePointsDialog);
    lblTip->setStyleSheet("color: gray; font-size: 10px;");
    layout->addWidget(lblTip);

    // 创建表格控件
    m_linePointsTable = new QTableWidget(m_linePointsDialog);
    m_linePointsTable->setColumnCount(4);
    m_linePointsTable->setHorizontalHeaderLabels({"序号", "X", "Y", "Z"});
    m_linePointsTable->setFont(QFont("Consolas", 9));
    m_linePointsTable->setSelectionBehavior(QAbstractItemView::SelectRows);
    m_linePointsTable->setSelectionMode(QAbstractItemView::SingleSelection);
    m_linePointsTable->verticalHeader()->setVisible(false);

    // 设置列宽
    m_linePointsTable->setColumnWidth(0, 60);   // 序号
    m_linePointsTable->setColumnWidth(1, 110);  // X
    m_linePointsTable->setColumnWidth(2, 110);  // Y
    m_linePointsTable->setColumnWidth(3, 110);  // Z

    // 表头样式
    m_linePointsTable->horizontalHeader()->setStretchLastSection(true);
    m_linePointsTable->horizontalHeader()->setDefaultAlignment(Qt::AlignCenter);

    connect(m_linePointsTable, &QTableWidget::cellClicked,
            this, &CloudViewMainWindow::onLinePointTableClicked);
    layout->addWidget(m_linePointsTable);

    // 关闭按钮
    QPushButton* btnClose = new QPushButton("关闭", m_linePointsDialog);
    connect(btnClose, &QPushButton::clicked, m_linePointsDialog, &QDialog::close);
    layout->addWidget(btnClose);

    // 填充数据
    updateLinePointsDialog();

    m_linePointsDialog->show();
}

void CloudViewMainWindow::onLinePointTableClicked(int row, int column)
{
    Q_UNUSED(column);

    if (row >= 0 && row < m_currentLinePoints.size()) {
        const QVector3D& pt = m_currentLinePoints[row];
        m_glWidget->setListHighlightPoint(pt);

        // 在状态栏显示选中点信息
        statusBar()->showMessage(QString("列表选中点 %1: (%2, %3, %4)")
            .arg(row)
            .arg(pt.x(), 0, 'f', 3)
            .arg(pt.y(), 0, 'f', 3)
            .arg(pt.z(), 0, 'f', 3));
    }
}

void CloudViewMainWindow::onShowPose1()
{
    // 从输入框读取点1坐标
    bool ok = true;
    float x1 = m_editPoint1X->text().toFloat(&ok);
    if (!ok) { QMessageBox::warning(this, "错误", "点1 X 值无效"); return; }
    float y1 = m_editPoint1Y->text().toFloat(&ok);
    if (!ok) { QMessageBox::warning(this, "错误", "点1 Y 值无效"); return; }
    float z1 = m_editPoint1Z->text().toFloat(&ok);
    if (!ok) { QMessageBox::warning(this, "错误", "点1 Z 值无效"); return; }

    // 设置选中点（不存在则创建）
    m_glWidget->setSelectedPointCoord(0, x1, y1, z1);

    // 读取姿态参数
    float rx = m_editRx1->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点1 RX 值无效");
        return;
    }

    float ry = m_editRy1->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点1 RY 值无效");
        return;
    }

    float rz = m_editRz1->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点1 RZ 值无效");
        return;
    }

    // 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();

    // 创建点1的姿态点
    PosePoint pose1(x1, y1, z1, rx, ry, rz, scale);
    QVector<PosePoint> poses;
    poses.append(pose1);

    // 如果点2输入框有值，也一起显示
    bool ok2 = true;
    float x2 = m_editPoint2X->text().toFloat(&ok2);
    float y2 = ok2 ? m_editPoint2Y->text().toFloat(&ok2) : 0;
    float z2 = ok2 ? m_editPoint2Z->text().toFloat(&ok2) : 0;
    if (ok2 && !(x2 == 0 && y2 == 0 && z2 == 0 && m_editPoint2X->text().isEmpty())) {
        m_glWidget->setSelectedPointCoord(1, x2, y2, z2);

        bool okR = true;
        float rx2 = m_editRx2->text().toFloat(&okR);
        float ry2 = okR ? m_editRy2->text().toFloat(&okR) : 0;
        float rz2 = okR ? m_editRz2->text().toFloat(&okR) : 0;
        if (okR) {
            PosePoint pose2(x2, y2, z2, rx2, ry2, rz2, scale);
            poses.append(pose2);
        }
    }

    // 添加到显示
    m_glWidget->addPosePoints(poses);

    statusBar()->showMessage(QString("已显示点1姿态 (%1, %2, %3) 旋转(%4°, %5°, %6°)")
        .arg(x1, 0, 'f', 3).arg(y1, 0, 'f', 3).arg(z1, 0, 'f', 3)
        .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",
             x1, y1, z1, rx, ry, rz);
}

void CloudViewMainWindow::onShowPose2()
{
    // 从输入框读取点2坐标
    bool ok = true;
    float x2 = m_editPoint2X->text().toFloat(&ok);
    if (!ok) { QMessageBox::warning(this, "错误", "点2 X 值无效"); return; }
    float y2 = m_editPoint2Y->text().toFloat(&ok);
    if (!ok) { QMessageBox::warning(this, "错误", "点2 Y 值无效"); return; }
    float z2 = m_editPoint2Z->text().toFloat(&ok);
    if (!ok) { QMessageBox::warning(this, "错误", "点2 Z 值无效"); return; }

    // 设置选中点（不存在则创建）
    m_glWidget->setSelectedPointCoord(1, x2, y2, z2);

    // 读取姿态参数
    float rx = m_editRx2->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点2 RX 值无效");
        return;
    }

    float ry = m_editRy2->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点2 RY 值无效");
        return;
    }

    float rz = m_editRz2->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点2 RZ 值无效");
        return;
    }

    // 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();

    QVector<PosePoint> poses;

    // 如果点1输入框有值，也一起显示
    bool ok1 = true;
    float x1 = m_editPoint1X->text().toFloat(&ok1);
    float y1 = ok1 ? m_editPoint1Y->text().toFloat(&ok1) : 0;
    float z1 = ok1 ? m_editPoint1Z->text().toFloat(&ok1) : 0;
    if (ok1 && !(x1 == 0 && y1 == 0 && z1 == 0 && m_editPoint1X->text().isEmpty())) {
        m_glWidget->setSelectedPointCoord(0, x1, y1, z1);

        bool okR = true;
        float rx1 = m_editRx1->text().toFloat(&okR);
        float ry1 = okR ? m_editRy1->text().toFloat(&okR) : 0;
        float rz1 = okR ? m_editRz1->text().toFloat(&okR) : 0;
        if (okR) {
            PosePoint pose1(x1, y1, z1, rx1, ry1, rz1, scale);
            poses.append(pose1);
        }
    }

    // 创建点2的姿态点
    PosePoint pose2(x2, y2, z2, rx, ry, rz, scale);
    poses.append(pose2);

    // 添加到显示
    m_glWidget->addPosePoints(poses);

    statusBar()->showMessage(QString("已显示点2姿态 (%1, %2, %3) 旋转(%4°, %5°, %6°)")
        .arg(x2, 0, 'f', 3).arg(y2, 0, 'f', 3).arg(z2, 0, 'f', 3)
        .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",
             x2, y2, z2, rx, ry, rz);
}

void CloudViewMainWindow::onShowInputLine()
{
    // 读取点1坐标
    bool ok = true;
    float x1 = m_editLineX1->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点1 X 值无效");
        return;
    }

    float y1 = m_editLineY1->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点1 Y 值无效");
        return;
    }

    float z1 = m_editLineZ1->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点1 Z 值无效");
        return;
    }

    // 读取点2坐标
    float x2 = m_editLineX2->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点2 X 值无效");
        return;
    }

    float y2 = m_editLineY2->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点2 Y 值无效");
        return;
    }

    float z2 = m_editLineZ2->text().toFloat(&ok);
    if (!ok) {
        QMessageBox::warning(this, "错误", "点2 Z 值无效");
        return;
    }

    // 清除之前的线段
    m_glWidget->clearLineSegments();

    // 创建线段（红色）
    LineSegment segment(x1, y1, z1, x2, y2, z2, 1.0f, 0.0f, 0.0f);
    QVector<LineSegment> segments;
    segments.append(segment);

    // 添加到显示
    m_glWidget->addLineSegments(segments);

    // 计算距离
    float dx = x2 - x1;
    float dy = y2 - y1;
    float dz = z2 - z1;
    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, 0, 'f', 1).arg(y1, 0, 'f', 1).arg(z1, 0, 'f', 1)
        .arg(x2, 0, 'f', 1).arg(y2, 0, 'f', 1).arg(z2, 0, 'f', 1)
        .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);
}

void CloudViewMainWindow::onClearInputLine()
{
    m_glWidget->clearLineSegments();
    statusBar()->showMessage(QString("已清除输入的线段"));
}

void CloudViewMainWindow::onEyeToHandTransform()
{
    if (m_glWidget->getCloudCount() == 0) {
        QMessageBox::warning(this, "提示", "请先加载点云");
        return;
    }

    QDialog dialog(this);
    dialog.setWindowTitle("眼在手外 - 矩阵变换");
    dialog.setModal(true);

    QVBoxLayout* layout = new QVBoxLayout(&dialog);

    QLabel* tip = new QLabel("输入或从文件加载 4x4 变换矩阵（相机坐标系 -> 基坐标系），直接应用到所有点云。", &dialog);
    tip->setWordWrap(true);
    tip->setStyleSheet("color: gray; font-size: 10px;");
    layout->addWidget(tip);

    QLabel* lblMatrix = new QLabel("变换矩阵 (4x4):", &dialog);
    lblMatrix->setStyleSheet("font-weight: bold;");
    layout->addWidget(lblMatrix);

    QTextEdit* matrixEdit = new QTextEdit(&dialog);
    matrixEdit->setFont(QFont("Consolas", 10));
    matrixEdit->setMinimumHeight(100);
    matrixEdit->setMaximumHeight(120);
    matrixEdit->setPlainText(
        "1.0  0.0  0.0  0.0\n"
        "0.0  1.0  0.0  0.0\n"
        "0.0  0.0  1.0  0.0\n"
        "0.0  0.0  0.0  1.0");
    layout->addWidget(matrixEdit);

    QPushButton* btnLoad = new QPushButton("从文件加载矩阵", &dialog);
    connect(btnLoad, &QPushButton::clicked, [this, matrixEdit]() {
        const QString fileName = QFileDialog::getOpenFileName(
            this, "打开矩阵文件", QString(),
            "标定矩阵文件 (*.ini *.txt);;INI文件 (*.ini);;文本文件 (*.txt);;所有文件 (*.*)");
        if (fileName.isEmpty()) return;

        if (fileName.endsWith(".ini", Qt::CaseInsensitive)) {
            QVector<QPair<QString, QMatrix4x4>> matrixList;
            QString errorMessage;
            if (!parseCalibIniFile(fileName, matrixList, &errorMessage)) {
                QMessageBox::warning(this, "格式错误", errorMessage);
                return;
            }
            if (matrixList.size() == 1) {
                matrixEdit->setPlainText(formatMatrixText(matrixList[0].second));
                return;
            }
            QDialog dlg(this);
            dlg.setWindowTitle("选择标定矩阵");
            QVBoxLayout* l = new QVBoxLayout(&dlg);
            l->addWidget(new QLabel(QString("文件中包含 %1 个标定矩阵，请选择：").arg(matrixList.size()), &dlg));
            QListWidget* lw = new QListWidget(&dlg);
            for (auto& m : matrixList) lw->addItem(m.first);
            lw->setCurrentRow(0);
            l->addWidget(lw);
            QDialogButtonBox* bb = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, &dlg);
            l->addWidget(bb);
            connect(bb, &QDialogButtonBox::accepted, &dlg, &QDialog::accept);
            connect(bb, &QDialogButtonBox::rejected, &dlg, &QDialog::reject);
            if (dlg.exec() == QDialog::Accepted && lw->currentRow() >= 0 && lw->currentRow() < matrixList.size())
                matrixEdit->setPlainText(formatMatrixText(matrixList[lw->currentRow()].second));
            return;
        }

        QFile file(fileName);
        if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
            QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
            return;
        }
        QTextStream in(&file);
        QString text = in.readAll();
        file.close();
        QMatrix4x4 matrix;
        QString errorMessage;
        if (!parseMatrixText(text, matrix, &errorMessage)) {
            QMessageBox::warning(this, "格式错误", errorMessage);
            return;
        }
        matrixEdit->setPlainText(formatMatrixText(matrix));
    });
    layout->addWidget(btnLoad);

    QLabel* lblFormat = new QLabel("矩阵文件格式：4 行，每行 4 个数值，分隔符：空格 / Tab / 逗号", &dialog);
    lblFormat->setWordWrap(true);
    lblFormat->setStyleSheet("color: gray; font-size: 9px;");
    layout->addWidget(lblFormat);

    QDialogButtonBox* btnBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, &dialog);
    btnBox->button(QDialogButtonBox::Ok)->setText("应用变换");
    btnBox->button(QDialogButtonBox::Ok)->setStyleSheet("QPushButton { background-color: #4CAF50; color: white; font-weight: bold; }"
                                                          "QPushButton:hover { background-color: #45a049; }");
    layout->addWidget(btnBox);
    connect(btnBox, &QDialogButtonBox::accepted, &dialog, &QDialog::accept);
    connect(btnBox, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);

    if (dialog.exec() != QDialog::Accepted) return;

    QMatrix4x4 matrix;
    QString errorMessage;
    if (!parseMatrixText(matrixEdit->toPlainText().trimmed(), matrix, &errorMessage)) {
        QMessageBox::warning(this, "格式错误", errorMessage);
        return;
    }
    if (matrix.isIdentity()) {
        QMessageBox::information(this, "提示", "当前矩阵为单位矩阵，无需变换");
        return;
    }

    applyTransformToAllClouds(matrix);
    statusBar()->showMessage("已将眼在手外矩阵变换应用到所有点云");
    LOG_INFO("[CloudView] Applied eye-to-hand matrix transform to all point clouds\n");
}

void CloudViewMainWindow::onEyeInHandTransform()
{
    if (m_glWidget->getCloudCount() == 0) {
        QMessageBox::warning(this, "提示", "请先加载点云");
        return;
    }

    QDialog dialog(this);
    dialog.setWindowTitle("眼在手上 - 矩阵变换");
    dialog.setModal(true);

    QVBoxLayout* layout = new QVBoxLayout(&dialog);

    QLabel* tip = new QLabel(
        "使用 4x4 矩阵作为“相机坐标系 -> 末端坐标系”的手眼矩阵。<br/>"
        "输入当前机械臂位姿（单位：mm / deg）后，将所有点云转换到机械臂基坐标系。<br/>"
        "角度组合方式：ZYX（Rz-Ry-Rx）。", &dialog);
    tip->setWordWrap(true);
    tip->setTextFormat(Qt::RichText);
    tip->setStyleSheet("color: gray; font-size: 10px;");
    layout->addWidget(tip);

    QLabel* lblMatrix = new QLabel("手眼矩阵 (4x4):", &dialog);
    lblMatrix->setStyleSheet("font-weight: bold;");
    layout->addWidget(lblMatrix);

    QTextEdit* matrixEdit = new QTextEdit(&dialog);
    matrixEdit->setFont(QFont("Consolas", 10));
    matrixEdit->setMinimumHeight(100);
    matrixEdit->setMaximumHeight(120);
    matrixEdit->setPlainText(
        "1.0  0.0  0.0  0.0\n"
        "0.0  1.0  0.0  0.0\n"
        "0.0  0.0  1.0  0.0\n"
        "0.0  0.0  0.0  1.0");
    layout->addWidget(matrixEdit);

    QPushButton* btnLoad = new QPushButton("从文件加载矩阵", &dialog);
    connect(btnLoad, &QPushButton::clicked, [this, matrixEdit]() {
        const QString fileName = QFileDialog::getOpenFileName(
            this, "打开矩阵文件", QString(),
            "标定矩阵文件 (*.ini *.txt);;INI文件 (*.ini);;文本文件 (*.txt);;所有文件 (*.*)");
        if (fileName.isEmpty()) return;

        if (fileName.endsWith(".ini", Qt::CaseInsensitive)) {
            QVector<QPair<QString, QMatrix4x4>> matrixList;
            QString errorMessage;
            if (!parseCalibIniFile(fileName, matrixList, &errorMessage)) {
                QMessageBox::warning(this, "格式错误", errorMessage);
                return;
            }
            if (matrixList.size() == 1) {
                matrixEdit->setPlainText(formatMatrixText(matrixList[0].second));
                return;
            }
            QDialog dlg(this);
            dlg.setWindowTitle("选择标定矩阵");
            QVBoxLayout* l = new QVBoxLayout(&dlg);
            l->addWidget(new QLabel(QString("文件中包含 %1 个标定矩阵，请选择：").arg(matrixList.size()), &dlg));
            QListWidget* lw = new QListWidget(&dlg);
            for (auto& m : matrixList) lw->addItem(m.first);
            lw->setCurrentRow(0);
            l->addWidget(lw);
            QDialogButtonBox* bb = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, &dlg);
            l->addWidget(bb);
            connect(bb, &QDialogButtonBox::accepted, &dlg, &QDialog::accept);
            connect(bb, &QDialogButtonBox::rejected, &dlg, &QDialog::reject);
            if (dlg.exec() == QDialog::Accepted && lw->currentRow() >= 0 && lw->currentRow() < matrixList.size())
                matrixEdit->setPlainText(formatMatrixText(matrixList[lw->currentRow()].second));
            return;
        }

        QFile file(fileName);
        if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
            QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
            return;
        }
        QTextStream in(&file);
        QString text = in.readAll();
        file.close();
        QMatrix4x4 matrix;
        QString errorMessage;
        if (!parseMatrixText(text, matrix, &errorMessage)) {
            QMessageBox::warning(this, "格式错误", errorMessage);
            return;
        }
        matrixEdit->setPlainText(formatMatrixText(matrix));
    });
    layout->addWidget(btnLoad);

    // 机械臂位姿输入
    QGroupBox* poseGroup = new QGroupBox("机械臂位姿", &dialog);
    QGridLayout* poseLayout = new QGridLayout(poseGroup);
    poseLayout->setHorizontalSpacing(8);
    poseLayout->setVerticalSpacing(6);

    auto addPoseEdit = [&](const QString& label, int row, int col) -> QLineEdit* {
        QLabel* lbl = new QLabel(label, poseGroup);
        QLineEdit* edit = new QLineEdit("0.0", poseGroup);
        edit->setAlignment(Qt::AlignRight);
        edit->setFont(QFont("Consolas", 10));
        poseLayout->addWidget(lbl, row, col * 2);
        poseLayout->addWidget(edit, row, col * 2 + 1);
        return edit;
    };

    QLineEdit* editX = addPoseEdit("X:", 0, 0);
    QLineEdit* editY = addPoseEdit("Y:", 0, 1);
    QLineEdit* editZ = addPoseEdit("Z:", 0, 2);
    QLineEdit* editRx = addPoseEdit("RX:", 1, 0);
    QLineEdit* editRy = addPoseEdit("RY:", 1, 1);
    QLineEdit* editRz = addPoseEdit("RZ:", 1, 2);
    layout->addWidget(poseGroup);

    QDialogButtonBox* btnBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, &dialog);
    btnBox->button(QDialogButtonBox::Ok)->setText("应用转换");
    btnBox->button(QDialogButtonBox::Ok)->setStyleSheet("QPushButton { background-color: #1976D2; color: white; font-weight: bold; }"
                                                          "QPushButton:hover { background-color: #1565C0; }");
    layout->addWidget(btnBox);
    connect(btnBox, &QDialogButtonBox::accepted, &dialog, &QDialog::accept);
    connect(btnBox, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);

    if (dialog.exec() != QDialog::Accepted) return;

    QMatrix4x4 handEyeMatrix;
    QString errorMessage;
    if (!parseMatrixText(matrixEdit->toPlainText().trimmed(), handEyeMatrix, &errorMessage)) {
        QMessageBox::warning(this, "格式错误", QString("手眼矩阵无效：%1").arg(errorMessage));
        return;
    }

    bool ok = false;
    float vals[6];
    const char* labels[] = {"X", "Y", "Z", "RX", "RY", "RZ"};
    QLineEdit* edits[] = {editX, editY, editZ, editRx, editRy, editRz};
    for (int i = 0; i < 6; ++i) {
        vals[i] = edits[i]->text().trimmed().toFloat(&ok);
        if (!ok) {
            QMessageBox::warning(this, "格式错误", QString("机械臂 %1 位姿无效").arg(labels[i]));
            return;
        }
    }

    const QMatrix4x4 totalMatrix = buildRobotPoseMatrix(vals[0], vals[1], vals[2], vals[3], vals[4], vals[5]) * handEyeMatrix;
    if (totalMatrix.isIdentity()) {
        QMessageBox::information(this, "提示", "当前位姿和手眼矩阵组合为单位矩阵，无需变换");
        return;
    }

    applyTransformToAllClouds(totalMatrix);
    statusBar()->showMessage(
        QString("已应用眼在手上转换，机械臂位姿: [%1, %2, %3, %4, %5, %6]")
            .arg(vals[0], 0, 'f', 3).arg(vals[1], 0, 'f', 3).arg(vals[2], 0, 'f', 3)
            .arg(vals[3], 0, 'f', 3).arg(vals[4], 0, 'f', 3).arg(vals[5], 0, 'f', 3));
    LOG_INFO("[CloudView] Applied eye-in-hand transform, robot pose=(%.3f, %.3f, %.3f, %.3f, %.3f, %.3f)\n",
             vals[0], vals[1], vals[2], vals[3], vals[4], vals[5]);
}

void CloudViewMainWindow::onSavePointCloud()
{
    if (m_glWidget->getCloudCount() == 0) {
        QMessageBox::warning(this, "提示", "请先加载点云");
        return;
    }

    const QString fileName = QFileDialog::getSaveFileName(
        this, "保存 TXT 点云", QString(), "文本文件 (*.txt);;所有文件 (*.*)");
    if (fileName.isEmpty()) return;

    std::vector<std::vector<SVzNL3DPosition>> scanLines;
    const size_t totalPoints = m_glWidget->getAllCloudsByLines(scanLines);
    if (scanLines.empty() || totalPoints == 0) {
        QMessageBox::warning(this, "提示", "当前无可保存的点云数据");
        return;
    }

    // 进度对话框
    QProgressDialog progress("正在保存点云...", "取消", 0, 100, this);
    progress.setWindowTitle("保存点云");
    progress.setWindowModality(Qt::WindowModal);
    progress.setMinimumDuration(0);
    progress.setAutoClose(true);
    progress.setAutoReset(true);

    // 回调实现
    class SaveProgressCallback : public ISaveProgressCallback
    {
    public:
        SaveProgressCallback(QProgressDialog& dlg) : m_dlg(dlg) {}
        void onSaveProgress(float progress) override
        {
            m_dlg.setValue(static_cast<int>(progress * 100));
            QCoreApplication::processEvents();
        }
        bool isSaveCancelled() const override
        {
            return m_dlg.wasCanceled();
        }
    private:
        QProgressDialog& m_dlg;
    };

    SaveProgressCallback callback(progress);

    LaserDataLoader loader;
    const int ret = loader.DebugSaveLaser(fileName.toStdString(), scanLines, &callback);
    progress.setValue(100);

    if (ret != 0) {
        if (callback.isSaveCancelled()) {
            statusBar()->showMessage("保存已取消");
        } else {
            QMessageBox::critical(this, "保存失败",
                QString("保存点云失败: %1").arg(QString::fromStdString(loader.GetLastError())));
        }
        return;
    }

    statusBar()->showMessage(
        QString("已保存点云: %1 条线, %2 个点 -> %3")
            .arg(scanLines.size()).arg(totalPoints).arg(QFileInfo(fileName).fileName()));
    LOG_INFO("[CloudView] Saved %zu lines, %zu points to %s\n",
             scanLines.size(), totalPoints, fileName.toStdString().c_str());
}

void CloudViewMainWindow::onSavePlyPcdCloud()
{
    if (m_glWidget->getCloudCount() == 0) {
        QMessageBox::warning(this, "提示", "请先加载点云");
        return;
    }

    const QString fileName = QFileDialog::getSaveFileName(
        this, "保存 PLY/PCD 点云", QString(),
        "PLY 文件 (*.ply);;PCD 文件 (*.pcd);;所有文件 (*.*)");
    if (fileName.isEmpty()) return;

    // 获取所有显示的点云，展平为 PointCloudXYZ（跳过零点）
    std::vector<std::vector<SVzNL3DPosition>> scanLines;
    const size_t totalPoints = m_glWidget->getAllCloudsByLines(scanLines);
    if (scanLines.empty() || totalPoints == 0) {
        QMessageBox::warning(this, "提示", "当前无可保存的点云数据");
        return;
    }

    PointCloudXYZ cloud;
    const float EPS = 1e-6f;
    for (const auto& line : scanLines) {
        for (const auto& pt : line) {
            // 跳过零点（网格填充的空位）
            if (std::fabs(pt.pt3D.x) < EPS &&
                std::fabs(pt.pt3D.y) < EPS &&
                std::fabs(pt.pt3D.z) < EPS)
                continue;
            cloud.points.emplace_back(pt.pt3D.x, pt.pt3D.y, pt.pt3D.z);
        }
    }

    if (cloud.empty()) {
        QMessageBox::warning(this, "提示", "当前无可保存的有效点云数据");
        return;
    }

    // 根据扩展名选择保存格式
    const std::string path = fileName.toStdString();
    std::string ext;
    const auto dotPos = path.rfind('.');
    if (dotPos != std::string::npos)
        ext = path.substr(dotPos + 1);
    for (auto& c : ext) c = static_cast<char>(std::tolower(c));

    int ret = -1;
    if (ext == "ply") {
        ret = m_converter->saveToPly(path, cloud);
    } else if (ext == "pcd") {
        ret = m_converter->saveToPcd(path, cloud);
    } else {
        // 用户手动输入了其他扩展名，默认用 PLY
        ret = m_converter->saveToPly(path, cloud);
    }

    if (ret != 0) {
        QMessageBox::critical(this, "保存失败",
            QString("保存点云失败: %1")
                .arg(QString::fromStdString(m_converter->getLastError())));
        return;
    }

    statusBar()->showMessage(
        QString("已保存点云: %1 个点 -> %2")
            .arg(cloud.points.size()).arg(QFileInfo(fileName).fileName()));
    LOG_INFO("[CloudView] Saved %zu points to %s\n",
             cloud.points.size(), fileName.toStdString().c_str());
}

void CloudViewMainWindow::onRotateCloudByZ()
{
    if (m_glWidget->getCloudCount() == 0) {
        QMessageBox::warning(this, "提示", "请先加载点云");
        return;
    }

    QDialog dialog(this);
    dialog.setWindowTitle("点云旋转");
    dialog.setModal(true);

    QVBoxLayout* layout = new QVBoxLayout(&dialog);

    QLabel* tip = new QLabel("对 Z 值小于阈值的点绕指定轴旋转指定角度。", &dialog);
    tip->setWordWrap(true);
    tip->setStyleSheet("color: gray;");
    layout->addWidget(tip);

    auto makeSpinBox = [&](double minValue, double maxValue, double value, double step = 1.0) {
        QDoubleSpinBox* spin = new QDoubleSpinBox(&dialog);
        spin->setDecimals(3);
        spin->setRange(minValue, maxValue);
        spin->setValue(value);
        spin->setSingleStep(step);
        spin->setAlignment(Qt::AlignRight);
        return spin;
    };

    QGroupBox* thresholdGroup = new QGroupBox("Z 轴阈值", &dialog);
    QFormLayout* thresholdLayout = new QFormLayout(thresholdGroup);
    QDoubleSpinBox* zThreshold = makeSpinBox(-100000.0, 100000.0, 0.0, 10.0);
    thresholdLayout->addRow("Z < ", zThreshold);
    layout->addWidget(thresholdGroup);

    QGroupBox* rotateGroup = new QGroupBox("旋转角度 (度)", &dialog);
    QFormLayout* rotateLayout = new QFormLayout(rotateGroup);
    QDoubleSpinBox* rotX = makeSpinBox(-360.0, 360.0, 0.0, 5.0);
    QDoubleSpinBox* rotY = makeSpinBox(-360.0, 360.0, 0.0, 5.0);
    QDoubleSpinBox* rotZ = makeSpinBox(-360.0, 360.0, 0.0, 5.0);
    rotateLayout->addRow("绕 X 轴:", rotX);
    rotateLayout->addRow("绕 Y 轴:", rotY);
    rotateLayout->addRow("绕 Z 轴:", rotZ);
    layout->addWidget(rotateGroup);

    QDialogButtonBox* buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, &dialog);
    connect(buttonBox, &QDialogButtonBox::accepted, &dialog, &QDialog::accept);
    connect(buttonBox, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);
    layout->addWidget(buttonBox);

    if (dialog.exec() != QDialog::Accepted) {
        return;
    }

    // 构建旋转矩阵: Rz * Ry * Rx
    const QMatrix4x4 rotMatrix =
        makeAxisRotationMatrix('z', rotZ->value() * kDegToRad) *
        makeAxisRotationMatrix('y', rotY->value() * kDegToRad) *
        makeAxisRotationMatrix('x', rotX->value() * kDegToRad);

    const size_t count = m_glWidget->rotateCloudsByZThreshold(rotMatrix, static_cast<float>(zThreshold->value()));
    if (count == 0) {
        QMessageBox::information(this, "提示", "没有满足条件的点 (Z < 阈值)");
        return;
    }

    statusBar()->showMessage(
        QString("已旋转 %1 个点 (Z < %2, 绕X %3° Y %4° Z %5°)")
            .arg(count)
            .arg(zThreshold->value(), 0, 'f', 3)
            .arg(rotX->value(), 0, 'f', 1)
            .arg(rotY->value(), 0, 'f', 1)
            .arg(rotZ->value(), 0, 'f', 1));
    LOG_INFO("[CloudView] Rotated %zu points with Z < %.3f by (%.1f, %.1f, %.1f) deg\n",
             count, zThreshold->value(), rotX->value(), rotY->value(), rotZ->value());
}

void CloudViewMainWindow::onGeneratePointCloud()
{
    QDialog dialog(this);
    dialog.setWindowTitle("生成长方体点云");
    dialog.setModal(true);

    QVBoxLayout* layout = new QVBoxLayout(&dialog);

    QLabel* tip = new QLabel("根据中心点和 XYZ 尺寸生成轴对齐长方体表面点云。", &dialog);
    tip->setWordWrap(true);
    tip->setStyleSheet("color: gray;");
    layout->addWidget(tip);

    auto makeSpinBox = [&](double minValue, double maxValue, double value) {
        QDoubleSpinBox* spin = new QDoubleSpinBox(&dialog);
        spin->setDecimals(3);
        spin->setRange(minValue, maxValue);
        spin->setValue(value);
        spin->setSingleStep(1.0);
        spin->setAlignment(Qt::AlignRight);
        return spin;
    };

    QGroupBox* centerGroup = new QGroupBox("中心点", &dialog);
    QFormLayout* centerLayout = new QFormLayout(centerGroup);
    QDoubleSpinBox* centerX = makeSpinBox(-100000.0, 100000.0, 0.0);
    QDoubleSpinBox* centerY = makeSpinBox(-100000.0, 100000.0, 0.0);
    QDoubleSpinBox* centerZ = makeSpinBox(-100000.0, 100000.0, 0.0);
    centerLayout->addRow("X:", centerX);
    centerLayout->addRow("Y:", centerY);
    centerLayout->addRow("Z:", centerZ);
    layout->addWidget(centerGroup);

    QGroupBox* sizeGroup = new QGroupBox("三轴方向大小", &dialog);
    QFormLayout* sizeLayout = new QFormLayout(sizeGroup);
    QDoubleSpinBox* sizeX = makeSpinBox(0.001, 100000.0, 100.0);
    QDoubleSpinBox* sizeY = makeSpinBox(0.001, 100000.0, 100.0);
    QDoubleSpinBox* sizeZ = makeSpinBox(0.001, 100000.0, 100.0);
    QDoubleSpinBox* spacing = makeSpinBox(0.001, 10000.0, 5.0);
    sizeLayout->addRow("X 尺寸:", sizeX);
    sizeLayout->addRow("Y 尺寸:", sizeY);
    sizeLayout->addRow("Z 尺寸:", sizeZ);
    sizeLayout->addRow("点间距:", spacing);
    layout->addWidget(sizeGroup);

    QDialogButtonBox* buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, &dialog);
    connect(buttonBox, &QDialogButtonBox::accepted, &dialog, &QDialog::accept);
    connect(buttonBox, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);
    layout->addWidget(buttonBox);

    if (dialog.exec() != QDialog::Accepted) {
        return;
    }

    const QVector3D center(static_cast<float>(centerX->value()),
                           static_cast<float>(centerY->value()),
                           static_cast<float>(centerZ->value()));
    const QVector3D size(static_cast<float>(sizeX->value()),
                         static_cast<float>(sizeY->value()),
                         static_cast<float>(sizeZ->value()));
    const float pointSpacing = static_cast<float>(spacing->value());

    const int gridX = std::max(1, static_cast<int>(std::ceil(size.x() / pointSpacing))) + 1;
    const int gridY = std::max(1, static_cast<int>(std::ceil(size.y() / pointSpacing))) + 1;
    const int gridZ = std::max(1, static_cast<int>(std::ceil(size.z() / pointSpacing))) + 1;
    const double estimatedGridCount = static_cast<double>(gridX) * gridY * gridZ;
    if (estimatedGridCount > 3000000.0) {
        QMessageBox::warning(this, "提示", "点数预计过大，请增大点间距或减小尺寸。");
        return;
    }

    const PointCloudXYZ cloud = generateBoxPointCloud(center, size, pointSpacing);
    if (cloud.empty()) {
        QMessageBox::warning(this, "提示", "生成点云失败，结果为空。");
        return;
    }

    addGeneratedCloud(cloud, QString("GeneratedBox_%1x%2x%3")
                                 .arg(size.x(), 0, 'f', 1)
                                 .arg(size.y(), 0, 'f', 1)
                                 .arg(size.z(), 0, 'f', 1));
}

void CloudViewMainWindow::onConvertEulerMatrix()
{
    QDialog* dialog = new QDialog(this);
    dialog->setAttribute(Qt::WA_DeleteOnClose);
    dialog->setWindowTitle("欧拉角与方向向量矩阵互转");
    dialog->setWindowFlags(dialog->windowFlags() | Qt::Tool);

    QVBoxLayout* layout = new QVBoxLayout(dialog);

    QLabel* tip = new QLabel(
        "输入欧拉角（单位: 度）按所选旋转顺序得到 3x3 方向向量矩阵；也可以从矩阵反算欧拉角。\n"
        "方向向量矩阵采用列向量约定: R = [ X轴 | Y轴 | Z轴 ]，每列为该坐标轴在参考系中的单位方向向量。",
        dialog);
    tip->setWordWrap(true);
    tip->setStyleSheet("color: gray;");
    layout->addWidget(tip);

    QGroupBox* eulerGroup = new QGroupBox("欧拉角 (deg)", dialog);
    QGridLayout* eulerLayout = new QGridLayout(eulerGroup);

    auto makeAngleSpin = [](QWidget* parent) {
        QDoubleSpinBox* spin = new QDoubleSpinBox(parent);
        spin->setDecimals(6);
        spin->setRange(-3600.0, 3600.0);
        spin->setSingleStep(0.1);
        spin->setValue(0.0);
        spin->setAlignment(Qt::AlignRight);
        spin->setButtonSymbols(QAbstractSpinBox::NoButtons);
        return spin;
    };

    QDoubleSpinBox* eulerRx = makeAngleSpin(eulerGroup);
    QDoubleSpinBox* eulerRy = makeAngleSpin(eulerGroup);
    QDoubleSpinBox* eulerRz = makeAngleSpin(eulerGroup);
    eulerLayout->addWidget(new QLabel("RX:", eulerGroup), 0, 0);
    eulerLayout->addWidget(eulerRx, 0, 1);
    eulerLayout->addWidget(new QLabel("RY:", eulerGroup), 1, 0);
    eulerLayout->addWidget(eulerRy, 1, 1);
    eulerLayout->addWidget(new QLabel("RZ:", eulerGroup), 2, 0);
    eulerLayout->addWidget(eulerRz, 2, 1);

    QComboBox* comboOrder = new QComboBox(eulerGroup);
    comboOrder->addItem("ZYX (Yaw-Pitch-Roll)", static_cast<int>(EulerRotationOrder::ZYX));
    comboOrder->addItem("XYZ (Roll-Pitch-Yaw)", static_cast<int>(EulerRotationOrder::XYZ));
    comboOrder->addItem("ZXY (Yaw-Roll-Pitch)", static_cast<int>(EulerRotationOrder::ZXY));
    comboOrder->addItem("YXZ (Pitch-Roll-Yaw)", static_cast<int>(EulerRotationOrder::YXZ));
    comboOrder->addItem("XZY (Roll-Yaw-Pitch)", static_cast<int>(EulerRotationOrder::XZY));
    comboOrder->addItem("YZX (Pitch-Yaw-Roll)", static_cast<int>(EulerRotationOrder::YZX));
    if (m_comboEulerOrder && m_comboEulerOrder->currentIndex() >= 0) {
        comboOrder->setCurrentIndex(m_comboEulerOrder->currentIndex());
    }
    eulerLayout->addWidget(new QLabel("旋转顺序:", eulerGroup), 3, 0);
    eulerLayout->addWidget(comboOrder, 3, 1);

    QGroupBox* matrixGroup = new QGroupBox("方向向量矩阵 (3x3)", dialog);
    QGridLayout* matLayout = new QGridLayout(matrixGroup);

    auto makeHeader = [matrixGroup](const QString& text) {
        QLabel* label = new QLabel(text, matrixGroup);
        label->setAlignment(Qt::AlignCenter);
        label->setStyleSheet("font-weight: bold;");
        return label;
    };

    matLayout->addWidget(makeHeader("X轴"), 0, 1);
    matLayout->addWidget(makeHeader("Y轴"), 0, 2);
    matLayout->addWidget(makeHeader("Z轴"), 0, 3);
    matLayout->addWidget(new QLabel("X分量:", matrixGroup), 1, 0);
    matLayout->addWidget(new QLabel("Y分量:", matrixGroup), 2, 0);
    matLayout->addWidget(new QLabel("Z分量:", matrixGroup), 3, 0);

    std::array<std::array<QDoubleSpinBox*, 3>, 3> matCells{};
    for (int c = 0; c < 3; ++c) {
        for (int r = 0; r < 3; ++r) {
            QDoubleSpinBox* spin = new QDoubleSpinBox(matrixGroup);
            spin->setDecimals(6);
            spin->setRange(-1.0, 1.0);
            spin->setSingleStep(0.01);
            spin->setAlignment(Qt::AlignRight);
            spin->setButtonSymbols(QAbstractSpinBox::NoButtons);
            spin->setValue(r == c ? 1.0 : 0.0);
            matCells[r][c] = spin;
            matLayout->addWidget(spin, r + 1, c + 1);
        }
    }

    layout->addWidget(eulerGroup);
    layout->addWidget(matrixGroup);

    QHBoxLayout* actionLayout = new QHBoxLayout();
    QPushButton* eulerToMat = new QPushButton("欧拉角 -> 方向向量矩阵", dialog);
    QPushButton* matToEuler = new QPushButton("方向向量矩阵 -> 欧拉角", dialog);
    QPushButton* closeButton = new QPushButton("关闭", dialog);
    actionLayout->addWidget(eulerToMat);
    actionLayout->addWidget(matToEuler);
    actionLayout->addWidget(closeButton);
    layout->addLayout(actionLayout);

    connect(eulerToMat, &QPushButton::clicked, dialog, [=]() {
        const EulerRotationOrder order = static_cast<EulerRotationOrder>(comboOrder->currentData().toInt());
        const QMatrix4x4 rotation = buildEulerRotationMatrix(order,
                                                             eulerRx->value(),
                                                             eulerRy->value(),
                                                             eulerRz->value());
        for (int r = 0; r < 3; ++r) {
            for (int c = 0; c < 3; ++c) {
                matCells[r][c]->setValue(rotation(r, c));
            }
        }
    });

    connect(matToEuler, &QPushButton::clicked, dialog, [=]() {
        QMatrix4x4 rotation;
        rotation.setToIdentity();
        for (int r = 0; r < 3; ++r) {
            for (int c = 0; c < 3; ++c) {
                rotation(r, c) = static_cast<float>(matCells[r][c]->value());
            }
        }
        const EulerRotationOrder order = static_cast<EulerRotationOrder>(comboOrder->currentData().toInt());
        const QVector3D euler = rotationMatrixToEuler(order, rotation);
        eulerRx->setValue(euler.x());
        eulerRy->setValue(euler.y());
        eulerRz->setValue(euler.z());
    });

    connect(closeButton, &QPushButton::clicked, dialog, &QDialog::close);
    dialog->show();
}

void CloudViewMainWindow::onPoseCompensation()
{
    QDialog* dialog = new QDialog(this);
    dialog->setAttribute(Qt::WA_DeleteOnClose);
    dialog->setWindowTitle("姿态补偿计算");
    dialog->setWindowFlags(dialog->windowFlags() | Qt::Tool);

    QVBoxLayout* layout = new QVBoxLayout(dialog);

    QLabel* tip = new QLabel(
        "输入当前欧拉角和期望欧拉角（单位: 度），计算出补偿角。\n"
        "分量相减：补偿 = 期望 − 当前（仅小角度差/单轴旋转时近似有效，结果与顺序无关）\n"
        "矩阵补偿：补偿 = 提取(R_cur^T × R_des)\n"
        "  · 输入顺序：当前/期望欧拉角的旋转顺序（取决于机器人/算法侧约定）\n"
        "  · 补偿输出顺序：反解 R_comp 用的旋转顺序，要与下游施加补偿的约定一致\n"
        "    （DetectPresenter::ApplyAxesRotation 硬编码 R = Rx·Ry·Rz，即 XYZ 内旋）",
        dialog);
    tip->setWordWrap(true);
    tip->setStyleSheet("color: gray;");
    layout->addWidget(tip);

    auto fillEulerOrderItems = [](QComboBox* combo) {
        combo->addItem("ZYX (Yaw-Pitch-Roll)", static_cast<int>(EulerRotationOrder::ZYX));
        combo->addItem("XYZ (Roll-Pitch-Yaw)", static_cast<int>(EulerRotationOrder::XYZ));
        combo->addItem("ZXY (Yaw-Roll-Pitch)", static_cast<int>(EulerRotationOrder::ZXY));
        combo->addItem("YXZ (Pitch-Roll-Yaw)", static_cast<int>(EulerRotationOrder::YXZ));
        combo->addItem("XZY (Roll-Yaw-Pitch)", static_cast<int>(EulerRotationOrder::XZY));
        combo->addItem("YZX (Pitch-Yaw-Roll)", static_cast<int>(EulerRotationOrder::YZX));
    };

    QComboBox* comboInputOrder = new QComboBox(dialog);
    fillEulerOrderItems(comboInputOrder);
    if (m_comboEulerOrder && m_comboEulerOrder->currentIndex() >= 0) {
        comboInputOrder->setCurrentIndex(m_comboEulerOrder->currentIndex());
    }

    QComboBox* comboOutputOrder = new QComboBox(dialog);
    fillEulerOrderItems(comboOutputOrder);
    // 默认 XYZ，匹配 DetectPresenter::ApplyAxesRotation 中 R = Rx·Ry·Rz 的硬编码
    const int outputXyzIndex = comboOutputOrder->findData(static_cast<int>(EulerRotationOrder::XYZ));
    if (outputXyzIndex >= 0) {
        comboOutputOrder->setCurrentIndex(outputXyzIndex);
    }

    QHBoxLayout* orderLayout = new QHBoxLayout();
    orderLayout->addWidget(new QLabel("输入顺序:", dialog));
    orderLayout->addWidget(comboInputOrder);
    orderLayout->addSpacing(20);
    orderLayout->addWidget(new QLabel("补偿输出顺序:", dialog));
    orderLayout->addWidget(comboOutputOrder);
    orderLayout->addStretch();
    layout->addLayout(orderLayout);

    QComboBox* comboMethod = new QComboBox(dialog);
    comboMethod->addItem("分量相减（期望 − 当前）");
    comboMethod->addItem("矩阵补偿（R_cur^T × R_des）");

    QHBoxLayout* methodLayout = new QHBoxLayout();
    methodLayout->addWidget(new QLabel("计算方法:", dialog));
    methodLayout->addWidget(comboMethod);
    methodLayout->addStretch();
    layout->addLayout(methodLayout);

    auto makeAngleSpin = [](QWidget* parent) {
        QDoubleSpinBox* spin = new QDoubleSpinBox(parent);
        spin->setDecimals(6);
        spin->setRange(-3600.0, 3600.0);
        spin->setSingleStep(0.1);
        spin->setValue(0.0);
        spin->setAlignment(Qt::AlignRight);
        spin->setButtonSymbols(QAbstractSpinBox::NoButtons);
        return spin;
    };

    QGroupBox* currentGroup = new QGroupBox("当前欧拉角 (deg)", dialog);
    QGridLayout* currentLayout = new QGridLayout(currentGroup);
    QDoubleSpinBox* curRx = makeAngleSpin(currentGroup);
    QDoubleSpinBox* curRy = makeAngleSpin(currentGroup);
    QDoubleSpinBox* curRz = makeAngleSpin(currentGroup);
    currentLayout->addWidget(new QLabel("RX:", currentGroup), 0, 0);
    currentLayout->addWidget(curRx, 0, 1);
    currentLayout->addWidget(new QLabel("RY:", currentGroup), 1, 0);
    currentLayout->addWidget(curRy, 1, 1);
    currentLayout->addWidget(new QLabel("RZ:", currentGroup), 2, 0);
    currentLayout->addWidget(curRz, 2, 1);

    QGroupBox* desiredGroup = new QGroupBox("期望欧拉角 (deg)", dialog);
    QGridLayout* desiredLayout = new QGridLayout(desiredGroup);
    QDoubleSpinBox* desRx = makeAngleSpin(desiredGroup);
    QDoubleSpinBox* desRy = makeAngleSpin(desiredGroup);
    QDoubleSpinBox* desRz = makeAngleSpin(desiredGroup);
    desiredLayout->addWidget(new QLabel("RX:", desiredGroup), 0, 0);
    desiredLayout->addWidget(desRx, 0, 1);
    desiredLayout->addWidget(new QLabel("RY:", desiredGroup), 1, 0);
    desiredLayout->addWidget(desRy, 1, 1);
    desiredLayout->addWidget(new QLabel("RZ:", desiredGroup), 2, 0);
    desiredLayout->addWidget(desRz, 2, 1);

    QGroupBox* resultGroup = new QGroupBox("补偿欧拉角 (deg)", dialog);
    QGridLayout* resultLayout = new QGridLayout(resultGroup);
    QLineEdit* resultRx = new QLineEdit(resultGroup);
    QLineEdit* resultRy = new QLineEdit(resultGroup);
    QLineEdit* resultRz = new QLineEdit(resultGroup);
    resultRx->setReadOnly(true);
    resultRy->setReadOnly(true);
    resultRz->setReadOnly(true);
    resultRx->setAlignment(Qt::AlignRight);
    resultRy->setAlignment(Qt::AlignRight);
    resultRz->setAlignment(Qt::AlignRight);
    resultRx->setStyleSheet("background-color: #f0f0f0; font-weight: bold;");
    resultRy->setStyleSheet("background-color: #f0f0f0; font-weight: bold;");
    resultRz->setStyleSheet("background-color: #f0f0f0; font-weight: bold;");
    resultLayout->addWidget(new QLabel("RX:", resultGroup), 0, 0);
    resultLayout->addWidget(resultRx, 0, 1);
    resultLayout->addWidget(new QLabel("RY:", resultGroup), 1, 0);
    resultLayout->addWidget(resultRy, 1, 1);
    resultLayout->addWidget(new QLabel("RZ:", resultGroup), 2, 0);
    resultLayout->addWidget(resultRz, 2, 1);

    layout->addWidget(currentGroup);
    layout->addWidget(desiredGroup);
    layout->addWidget(resultGroup);

    QHBoxLayout* actionLayout = new QHBoxLayout();
    QPushButton* calcButton = new QPushButton("计算补偿", dialog);
    QPushButton* closeButton = new QPushButton("关闭", dialog);
    actionLayout->addStretch();
    actionLayout->addWidget(calcButton);
    actionLayout->addWidget(closeButton);
    layout->addLayout(actionLayout);

    connect(calcButton, &QPushButton::clicked, dialog, [=]() {
        if (comboMethod->currentIndex() == 0) {
            // 分量相减
            resultRx->setText(QString::number(desRx->value() - curRx->value(), 'f', 6));
            resultRy->setText(QString::number(desRy->value() - curRy->value(), 'f', 6));
            resultRz->setText(QString::number(desRz->value() - curRz->value(), 'f', 6));
        } else {
            // 矩阵补偿
            const EulerRotationOrder inputOrder  = static_cast<EulerRotationOrder>(comboInputOrder->currentData().toInt());
            const EulerRotationOrder outputOrder = static_cast<EulerRotationOrder>(comboOutputOrder->currentData().toInt());

            // 输入欧拉角按 inputOrder 还原成旋转矩阵
            const QMatrix4x4 curMat = buildEulerRotationMatrix(inputOrder, curRx->value(), curRy->value(), curRz->value());
            const QMatrix4x4 desMat = buildEulerRotationMatrix(inputOrder, desRx->value(), desRy->value(), desRz->value());

            // R_des = R_cur * R_comp（工具坐标系补偿，R_comp = R_cur^T * R_des）
            const QMatrix4x4 compMat = curMat.transposed() * desMat;

            // 补偿矩阵按 outputOrder 反解（要与下游施加补偿的旋转顺序一致）
            const QVector3D euler = rotationMatrixToEuler(outputOrder, compMat);
            resultRx->setText(QString::number(euler.x(), 'f', 6));
            resultRy->setText(QString::number(euler.y(), 'f', 6));
            resultRz->setText(QString::number(euler.z(), 'f', 6));
        }
    });

    connect(closeButton, &QPushButton::clicked, dialog, &QDialog::close);
    dialog->show();
}

void CloudViewMainWindow::onEulerOrderChanged(int index)
{
    if (!m_glWidget) {
        return;
    }

    EulerRotationOrder order = static_cast<EulerRotationOrder>(m_comboEulerOrder->itemData(index).toInt());
    m_glWidget->setEulerRotationOrder(order);

    // 如果有姿态点，刷新显示
    m_glWidget->update();

    QString orderName = m_comboEulerOrder->currentText();
    statusBar()->showMessage(QString("欧拉角旋转顺序已切换为: %1").arg(orderName));
    LOG_INFO("[CloudView] Euler rotation order changed to: %s\n", orderName.toStdString().c_str());
}

void CloudViewMainWindow::onViewAnglesChanged(float rotX, float rotY, float rotZ)
{
    // 更新显示的角度值
    m_editRotX->setText(QString::number(rotX, 'f', 1));
    m_editRotY->setText(QString::number(rotY, 'f', 1));
    m_editRotZ->setText(QString::number(rotZ, 'f', 1));
}

void CloudViewMainWindow::onPoint1CoordChanged()
{
    // 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;
    }

    // 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
    auto updatedPoints = m_glWidget->getSelectedPoints();
    if (m_glWidget->isMeasureDistanceEnabled() && updatedPoints.size() >= 2 && updatedPoints[1].valid) {
        float distance = m_glWidget->calculateDistance(updatedPoints[0], updatedPoints[1]) * 2.0f;
        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()
{
    // 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;
    }

    // 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
    auto updatedPoints = m_glWidget->getSelectedPoints();
    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));
    }

    LOG_INFO("[CloudView] Point2 coord updated to (%.3f, %.3f, %.3f)\n", x, y, z);
}