GrabBag/Tools/CloudView/Src/CloudViewMainWindow.cpp

#include "CloudViewMainWindow.h"
#include <QFileInfo>
#include "VrLog.h"

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

CloudViewMainWindow::~CloudViewMainWindow()
{
}

void CloudViewMainWindow::setupUI()
{
    // 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：点云显示区域
    QWidget* viewerArea = createViewerArea();
    splitter->addWidget(viewerArea);

    // 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);  // 设置最小尺寸
    m_glWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
    layout->addWidget(m_glWidget);

    // 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);

    return widget;
}

QWidget* CloudViewMainWindow::createControlPanel()
{
    QWidget* widget = new QWidget(this);
    widget->setMaximumWidth(300);
    QVBoxLayout* layout = new QVBoxLayout(widget);
    layout->setContentsMargins(5, 5, 5, 5);
    layout->setSpacing(10);

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

    // 选点测距组
    layout->addWidget(createMeasureGroup());

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

    // 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(300);
    QVBoxLayout* layout = new QVBoxLayout(group);

    m_btnOpenFile = new QPushButton("打开文件", group);
    m_btnOpenFile->setMinimumHeight(30);
    connect(m_btnOpenFile, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenFile);
    layout->addWidget(m_btnOpenFile);

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

    m_btnResetView = new QPushButton("重置视图", group);
    connect(m_btnResetView, &QPushButton::clicked, this, &CloudViewMainWindow::onResetView);
    layout->addWidget(m_btnResetView);

    return group;
}

QGroupBox* CloudViewMainWindow::createMeasureGroup()
{
    QGroupBox* group = new QGroupBox("选点测距", this);
    group->setMaximumWidth(300);
    QVBoxLayout* layout = new QVBoxLayout(group);

    // 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: 10px;");
    layout->addWidget(lblTip);

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

    // 点1信息
    QHBoxLayout* point1Layout = new QHBoxLayout();
    QLabel* lblPoint1Title = new QLabel("点1:", group);
    m_lblPoint1 = new QLabel("--", group);
    m_lblPoint1->setWordWrap(true);
    point1Layout->addWidget(lblPoint1Title);
    point1Layout->addWidget(m_lblPoint1, 1);
    layout->addLayout(point1Layout);

    // 点2信息
    QHBoxLayout* point2Layout = new QHBoxLayout();
    QLabel* lblPoint2Title = new QLabel("点2:", group);
    m_lblPoint2 = new QLabel("--", group);
    m_lblPoint2->setWordWrap(true);
    point2Layout->addWidget(lblPoint2Title);
    point2Layout->addWidget(m_lblPoint2, 1);
    layout->addLayout(point2Layout);

    // 距离信息
    QHBoxLayout* distLayout = new QHBoxLayout();
    QLabel* lblDistTitle = new QLabel("距离:", group);
    m_lblDistance = new QLabel("--", group);
    m_lblDistance->setStyleSheet("font-weight: bold; color: green;");
    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(300);
    QVBoxLayout* layout = new QVBoxLayout(group);

    // 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: 10px;");
    layout->addWidget(lblTip);

    // 选线模式选择
    QHBoxLayout* modeLayout = new QHBoxLayout();
    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);
    layout->addLayout(modeLayout);

    // 输入索引选择
    QHBoxLayout* inputLayout = new QHBoxLayout();
    m_lineNumberInput = new QLineEdit(group);
    m_lineNumberInput->setPlaceholderText("输入索引");
    m_btnSelectByNumber = new QPushButton("选择", group);
    connect(m_btnSelectByNumber, &QPushButton::clicked, 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);
    connect(m_btnClearLine, &QPushButton::clicked, this, &CloudViewMainWindow::onClearLinePoints);
    layout->addWidget(m_btnClearLine);

    // 线索引信息
    QHBoxLayout* indexLayout = new QHBoxLayout();
    QLabel* lblIndexTitle = new QLabel("索引:", group);
    m_lblLineIndex = new QLabel("--", group);
    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);
    m_lblLinePointCount = new QLabel("--", group);
    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(300);
    QVBoxLayout* layout = new QVBoxLayout(group);

    m_cloudList = new QListWidget(group);
    m_cloudList->setMinimumHeight(100);
    layout->addWidget(m_cloudList);

    return group;
}

void CloudViewMainWindow::onOpenFile()
{
    QString fileName = QFileDialog::getOpenFileName(
        this,
        "打开点云文件",
        QString(),
        "点云文件 (*.pcd *.txt);;PCD 文件 (*.pcd);;TXT 文件 (*.txt);;所有文件 (*.*)"
    );

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

    statusBar()->showMessage("正在加载点云...");

    // 使用 PointCloudConverter 加载点云
    PointCloudXYZ cloud;
    int result = m_converter->loadFromFile(fileName.toStdString(), cloud);

    if (result != 0) {
        QMessageBox::critical(this, "错误",
            QString("加载点云失败: %1").arg(QString::fromStdString(m_converter->getLastError())));
        statusBar()->showMessage("加载失败");
        return;
    }

    // 保存原始完整点云（包含0,0,0点，用于旋转）
    m_originalCloud = cloud;

    // 添加到显示控件（显示时会自动过滤0,0,0点）
    QFileInfo fileInfo(fileName);
    QString cloudName = QString("Cloud_%1 (%2)").arg(++m_cloudCount).arg(fileInfo.fileName());
    m_glWidget->addPointCloud(cloud, cloudName);

    // 保存线信息（用于旋转功能）
    int lineCount = m_converter->getLoadedLineCount();
    if (lineCount > 0) {
        m_currentLineNum = lineCount;
        // 计算每线点数（假设均匀分布）
        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());
    }
    m_cloudList->addItem(itemText);

    statusBar()->showMessage(QString("已加载 %1 个点").arg(m_converter->getLoadedPointCount()));
}

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

    // 清除选点信息
    m_lblPoint1->setText("--");
    m_lblPoint2->setText("--");
    m_lblDistance->setText("--");

    // 清除选线信息
    m_lblLineIndex->setText("--");
    m_lblLinePointCount->setText("--");

    statusBar()->showMessage("已清除所有点云");
}

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

void CloudViewMainWindow::onClearSelectedPoints()
{
    m_glWidget->clearSelectedPoints();
    m_lblPoint1->setText("--");
    m_lblPoint2->setText("--");
    m_lblDistance->setText("--");
    statusBar()->showMessage("已清除选中的点");
}

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

    updateSelectedPointsDisplay();
    statusBar()->showMessage(QString("已选中点: (%1, %2, %3)")
        .arg(point.x, 0, 'f', 3)
        .arg(point.y, 0, 'f', 3)
        .arg(point.z, 0, 'f', 3));
}

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 = QString("(%1, %2, %3)")
            .arg(selectedPoints[0].x, 0, 'f', 3)
            .arg(selectedPoints[0].y, 0, 'f', 3)
            .arg(selectedPoints[0].z, 0, 'f', 3);
        if (selectedPoints[0].lineIndex >= 0) {
            text += QString("\n线索引:%1").arg(selectedPoints[0].lineIndex);
            if (selectedPoints[0].pointIndexInLine >= 0) {
                text += QString(" 点索引:%1").arg(selectedPoints[0].pointIndexInLine);
            }
        }
        m_lblPoint1->setText(text);
    } else {
        m_lblPoint1->setText("--");
    }

    if (selectedPoints.size() >= 2 && selectedPoints[1].valid) {
        QString text = QString("(%1, %2, %3)")
            .arg(selectedPoints[1].x, 0, 'f', 3)
            .arg(selectedPoints[1].y, 0, 'f', 3)
            .arg(selectedPoints[1].z, 0, 'f', 3);
        if (selectedPoints[1].lineIndex >= 0) {
            text += QString("\n线索引:%1").arg(selectedPoints[1].lineIndex);
            if (selectedPoints[1].pointIndexInLine >= 0) {
                text += QString(" 点索引:%1").arg(selectedPoints[1].pointIndexInLine);
            }
        }
        m_lblPoint2->setText(text);
    } else {
        m_lblPoint2->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_lblLineIndex->setText("--");
    m_lblLinePointCount->setText("--");
    statusBar()->showMessage("已清除选线");
}

void CloudViewMainWindow::onLineSelected(const SelectedLineInfo& line)
{
    if (!line.valid) {
        m_lblLineIndex->setText("--");
        m_lblLinePointCount->setText("--");
        return;
    }

    if (line.mode == LineSelectMode::Vertical) {
        m_lblLineIndex->setText(QString::number(line.lineIndex));
        statusBar()->showMessage(QString("已选中索引 %1 的线，共 %2 个点")
            .arg(line.lineIndex)
            .arg(line.pointCount));
    } else {
        // 横向选线：显示索引（从0开始）
        m_lblLineIndex->setText(QString::number(line.pointIndex));
        statusBar()->showMessage(QString("已选中索引 %1 的横向线，共 %2 个点")
            .arg(line.pointIndex)
            .arg(line.pointCount));
    }
    m_lblLinePointCount->setText(QString::number(line.pointCount));
}

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));
        }
    }
}