467 lines
15 KiB
C++
467 lines
15 KiB
C++
#include "CloudViewMainWindow.h"
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#include <QFileInfo>
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#include "VrLog.h"
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CloudViewMainWindow::CloudViewMainWindow(QWidget* parent)
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: QMainWindow(parent)
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, m_glWidget(nullptr)
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, m_converter(std::make_unique<PointCloudConverter>())
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, m_cloudCount(0)
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, m_currentLineNum(0)
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, m_currentLinePtNum(0)
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{
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setupUI();
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LOG_INFO("CloudViewMainWindow initialized\n");
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}
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CloudViewMainWindow::~CloudViewMainWindow()
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{
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}
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void CloudViewMainWindow::setupUI()
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{
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// 创建中央控件
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QWidget* centralWidget = new QWidget(this);
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setCentralWidget(centralWidget);
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// 创建主布局
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QHBoxLayout* mainLayout = new QHBoxLayout(centralWidget);
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mainLayout->setContentsMargins(5, 5, 5, 5);
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mainLayout->setSpacing(5);
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// 创建分割器
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QSplitter* splitter = new QSplitter(Qt::Horizontal, centralWidget);
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// 左侧：点云显示区域
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QWidget* viewerArea = createViewerArea();
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splitter->addWidget(viewerArea);
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// 右侧：控制面板
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QWidget* controlPanel = createControlPanel();
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splitter->addWidget(controlPanel);
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// 设置分割器初始大小（左侧 70%，右侧 30%）
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splitter->setSizes({700, 300});
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mainLayout->addWidget(splitter);
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// 状态栏
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statusBar()->showMessage("就绪");
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}
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QWidget* CloudViewMainWindow::createViewerArea()
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{
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QWidget* widget = new QWidget(this);
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QVBoxLayout* layout = new QVBoxLayout(widget);
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layout->setContentsMargins(0, 0, 0, 0);
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m_glWidget = new PointCloudGLWidget(widget);
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m_glWidget->setMinimumSize(400, 300); // 设置最小尺寸
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m_glWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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layout->addWidget(m_glWidget);
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// 连接信号
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connect(m_glWidget, &PointCloudGLWidget::pointSelected,
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this, &CloudViewMainWindow::onPointSelected);
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connect(m_glWidget, &PointCloudGLWidget::twoPointsSelected,
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this, &CloudViewMainWindow::onTwoPointsSelected);
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connect(m_glWidget, &PointCloudGLWidget::lineSelected,
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this, &CloudViewMainWindow::onLineSelected);
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return widget;
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}
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QWidget* CloudViewMainWindow::createControlPanel()
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{
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QWidget* widget = new QWidget(this);
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widget->setMaximumWidth(300);
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QVBoxLayout* layout = new QVBoxLayout(widget);
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layout->setContentsMargins(5, 5, 5, 5);
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layout->setSpacing(10);
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// 文件操作组
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layout->addWidget(createFileGroup());
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// 选点测距组
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layout->addWidget(createMeasureGroup());
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// 选线拟合组
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layout->addWidget(createLineGroup());
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// 点云列表组
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layout->addWidget(createCloudListGroup());
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// 添加弹性空间
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layout->addStretch();
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return widget;
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}
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QGroupBox* CloudViewMainWindow::createFileGroup()
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{
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QGroupBox* group = new QGroupBox("文件操作", this);
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group->setMaximumWidth(300);
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QVBoxLayout* layout = new QVBoxLayout(group);
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m_btnOpenFile = new QPushButton("打开文件", group);
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m_btnOpenFile->setMinimumHeight(30);
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connect(m_btnOpenFile, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenFile);
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layout->addWidget(m_btnOpenFile);
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m_btnClearAll = new QPushButton("清除所有", group);
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connect(m_btnClearAll, &QPushButton::clicked, this, &CloudViewMainWindow::onClearAll);
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layout->addWidget(m_btnClearAll);
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m_btnResetView = new QPushButton("重置视图", group);
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connect(m_btnResetView, &QPushButton::clicked, this, &CloudViewMainWindow::onResetView);
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layout->addWidget(m_btnResetView);
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return group;
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}
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QGroupBox* CloudViewMainWindow::createMeasureGroup()
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{
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QGroupBox* group = new QGroupBox("选点测距", this);
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group->setMaximumWidth(300);
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QVBoxLayout* layout = new QVBoxLayout(group);
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// 操作说明
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QLabel* lblTip = new QLabel("Ctrl+左键点击点云选择点", group);
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lblTip->setWordWrap(true);
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lblTip->setStyleSheet("color: gray; font-size: 10px;");
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layout->addWidget(lblTip);
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// 清除选点按钮
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m_btnClearPoints = new QPushButton("清除选点", group);
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connect(m_btnClearPoints, &QPushButton::clicked, this, &CloudViewMainWindow::onClearSelectedPoints);
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layout->addWidget(m_btnClearPoints);
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// 点1信息
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QHBoxLayout* point1Layout = new QHBoxLayout();
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QLabel* lblPoint1Title = new QLabel("点1:", group);
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m_lblPoint1 = new QLabel("--", group);
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m_lblPoint1->setWordWrap(true);
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point1Layout->addWidget(lblPoint1Title);
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point1Layout->addWidget(m_lblPoint1, 1);
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layout->addLayout(point1Layout);
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// 点2信息
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QHBoxLayout* point2Layout = new QHBoxLayout();
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QLabel* lblPoint2Title = new QLabel("点2:", group);
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m_lblPoint2 = new QLabel("--", group);
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m_lblPoint2->setWordWrap(true);
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point2Layout->addWidget(lblPoint2Title);
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point2Layout->addWidget(m_lblPoint2, 1);
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layout->addLayout(point2Layout);
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// 距离信息
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QHBoxLayout* distLayout = new QHBoxLayout();
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QLabel* lblDistTitle = new QLabel("距离:", group);
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m_lblDistance = new QLabel("--", group);
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m_lblDistance->setStyleSheet("font-weight: bold; color: green;");
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distLayout->addWidget(lblDistTitle);
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distLayout->addWidget(m_lblDistance, 1);
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layout->addLayout(distLayout);
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return group;
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}
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QGroupBox* CloudViewMainWindow::createLineGroup()
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{
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QGroupBox* group = new QGroupBox("选线", this);
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group->setMaximumWidth(300);
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QVBoxLayout* layout = new QVBoxLayout(group);
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// 操作说明
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QLabel* lblTip = new QLabel("Shift+左键点击点云选择线", group);
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lblTip->setWordWrap(true);
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lblTip->setStyleSheet("color: gray; font-size: 10px;");
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layout->addWidget(lblTip);
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// 选线模式选择
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QHBoxLayout* modeLayout = new QHBoxLayout();
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m_rbVertical = new QRadioButton("纵向", group);
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m_rbHorizontal = new QRadioButton("横向", group);
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m_rbVertical->setChecked(true);
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connect(m_rbVertical, &QRadioButton::toggled, this, &CloudViewMainWindow::onLineSelectModeChanged);
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modeLayout->addWidget(m_rbVertical);
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modeLayout->addWidget(m_rbHorizontal);
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layout->addLayout(modeLayout);
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// 输入索引选择
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QHBoxLayout* inputLayout = new QHBoxLayout();
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m_lineNumberInput = new QLineEdit(group);
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m_lineNumberInput->setPlaceholderText("输入索引");
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m_btnSelectByNumber = new QPushButton("选择", group);
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connect(m_btnSelectByNumber, &QPushButton::clicked, this, &CloudViewMainWindow::onSelectLineByNumber);
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inputLayout->addWidget(m_lineNumberInput, 1);
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inputLayout->addWidget(m_btnSelectByNumber);
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layout->addLayout(inputLayout);
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// 清除选线按钮
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m_btnClearLine = new QPushButton("清除选线", group);
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connect(m_btnClearLine, &QPushButton::clicked, this, &CloudViewMainWindow::onClearLinePoints);
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layout->addWidget(m_btnClearLine);
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// 线索引信息
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QHBoxLayout* indexLayout = new QHBoxLayout();
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QLabel* lblIndexTitle = new QLabel("索引:", group);
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m_lblLineIndex = new QLabel("--", group);
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indexLayout->addWidget(lblIndexTitle);
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indexLayout->addWidget(m_lblLineIndex, 1);
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layout->addLayout(indexLayout);
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// 点数信息
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QHBoxLayout* countLayout = new QHBoxLayout();
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QLabel* lblCountTitle = new QLabel("点数:", group);
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m_lblLinePointCount = new QLabel("--", group);
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countLayout->addWidget(lblCountTitle);
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countLayout->addWidget(m_lblLinePointCount, 1);
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layout->addLayout(countLayout);
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return group;
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}
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QGroupBox* CloudViewMainWindow::createCloudListGroup()
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{
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QGroupBox* group = new QGroupBox("点云列表", this);
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group->setMaximumWidth(300);
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QVBoxLayout* layout = new QVBoxLayout(group);
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m_cloudList = new QListWidget(group);
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m_cloudList->setMinimumHeight(100);
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layout->addWidget(m_cloudList);
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return group;
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}
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void CloudViewMainWindow::onOpenFile()
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{
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QString fileName = QFileDialog::getOpenFileName(
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this,
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"打开点云文件",
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QString(),
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"点云文件 (*.pcd *.txt);;PCD 文件 (*.pcd);;TXT 文件 (*.txt);;所有文件 (*.*)"
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);
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if (fileName.isEmpty()) {
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return;
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}
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statusBar()->showMessage("正在加载点云...");
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// 使用 PointCloudConverter 加载点云
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PointCloudXYZ cloud;
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int result = m_converter->loadFromFile(fileName.toStdString(), cloud);
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if (result != 0) {
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QMessageBox::critical(this, "错误",
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QString("加载点云失败: %1").arg(QString::fromStdString(m_converter->getLastError())));
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statusBar()->showMessage("加载失败");
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return;
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}
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// 保存原始完整点云（包含0,0,0点，用于旋转）
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m_originalCloud = cloud;
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// 添加到显示控件（显示时会自动过滤0,0,0点）
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QFileInfo fileInfo(fileName);
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QString cloudName = QString("Cloud_%1 (%2)").arg(++m_cloudCount).arg(fileInfo.fileName());
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m_glWidget->addPointCloud(cloud, cloudName);
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// 保存线信息（用于旋转功能）
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int lineCount = m_converter->getLoadedLineCount();
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if (lineCount > 0) {
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m_currentLineNum = lineCount;
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// 计算每线点数（假设均匀分布）
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m_currentLinePtNum = static_cast<int>(m_converter->getLoadedPointCount()) / lineCount;
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} else {
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m_currentLineNum = 0;
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m_currentLinePtNum = 0;
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}
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// 添加到列表
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QString itemText;
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if (lineCount > 0) {
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itemText = QString("%1 - %2 点, %3 线").arg(cloudName).arg(m_converter->getLoadedPointCount()).arg(lineCount);
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} else {
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itemText = QString("%1 - %2 点").arg(cloudName).arg(m_converter->getLoadedPointCount());
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}
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m_cloudList->addItem(itemText);
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statusBar()->showMessage(QString("已加载 %1 个点").arg(m_converter->getLoadedPointCount()));
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}
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void CloudViewMainWindow::onClearAll()
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{
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m_glWidget->clearPointClouds();
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m_cloudList->clear();
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m_cloudCount = 0;
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m_currentLineNum = 0;
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m_currentLinePtNum = 0;
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m_originalCloud.clear();
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// 清除选点信息
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m_lblPoint1->setText("--");
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m_lblPoint2->setText("--");
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m_lblDistance->setText("--");
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// 清除选线信息
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m_lblLineIndex->setText("--");
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m_lblLinePointCount->setText("--");
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statusBar()->showMessage("已清除所有点云");
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}
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void CloudViewMainWindow::onResetView()
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{
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m_glWidget->resetView();
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statusBar()->showMessage("视图已重置");
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}
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void CloudViewMainWindow::onClearSelectedPoints()
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{
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m_glWidget->clearSelectedPoints();
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m_lblPoint1->setText("--");
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m_lblPoint2->setText("--");
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m_lblDistance->setText("--");
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statusBar()->showMessage("已清除选中的点");
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}
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void CloudViewMainWindow::onPointSelected(const SelectedPointInfo& point)
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{
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if (!point.valid) {
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return;
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}
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updateSelectedPointsDisplay();
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statusBar()->showMessage(QString("已选中点: (%1, %2, %3)")
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.arg(point.x, 0, 'f', 3)
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.arg(point.y, 0, 'f', 3)
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.arg(point.z, 0, 'f', 3));
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}
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void CloudViewMainWindow::onTwoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance)
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{
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updateSelectedPointsDisplay();
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m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3));
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statusBar()->showMessage(QString("测量距离: %1 mm").arg(distance, 0, 'f', 3));
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}
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void CloudViewMainWindow::updateSelectedPointsDisplay()
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{
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auto selectedPoints = m_glWidget->getSelectedPoints();
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if (selectedPoints.size() >= 1 && selectedPoints[0].valid) {
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QString text = QString("(%1, %2, %3)")
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.arg(selectedPoints[0].x, 0, 'f', 3)
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.arg(selectedPoints[0].y, 0, 'f', 3)
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.arg(selectedPoints[0].z, 0, 'f', 3);
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if (selectedPoints[0].lineIndex >= 0) {
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text += QString("\n线索引:%1").arg(selectedPoints[0].lineIndex);
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if (selectedPoints[0].pointIndexInLine >= 0) {
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text += QString(" 点索引:%1").arg(selectedPoints[0].pointIndexInLine);
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}
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}
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m_lblPoint1->setText(text);
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} else {
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m_lblPoint1->setText("--");
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}
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if (selectedPoints.size() >= 2 && selectedPoints[1].valid) {
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QString text = QString("(%1, %2, %3)")
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.arg(selectedPoints[1].x, 0, 'f', 3)
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.arg(selectedPoints[1].y, 0, 'f', 3)
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.arg(selectedPoints[1].z, 0, 'f', 3);
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if (selectedPoints[1].lineIndex >= 0) {
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text += QString("\n线索引:%1").arg(selectedPoints[1].lineIndex);
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if (selectedPoints[1].pointIndexInLine >= 0) {
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text += QString(" 点索引:%1").arg(selectedPoints[1].pointIndexInLine);
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}
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}
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m_lblPoint2->setText(text);
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} else {
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m_lblPoint2->setText("--");
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}
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}
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void CloudViewMainWindow::onLineSelectModeChanged(bool checked)
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{
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if (checked) {
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// 纵向模式
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m_glWidget->setLineSelectMode(LineSelectMode::Vertical);
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} else {
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// 横向模式
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m_glWidget->setLineSelectMode(LineSelectMode::Horizontal);
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}
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m_lineNumberInput->setPlaceholderText("输入索引");
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}
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void CloudViewMainWindow::onClearLinePoints()
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{
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m_glWidget->clearSelectedLine();
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m_lblLineIndex->setText("--");
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m_lblLinePointCount->setText("--");
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statusBar()->showMessage("已清除选线");
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}
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void CloudViewMainWindow::onLineSelected(const SelectedLineInfo& line)
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{
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if (!line.valid) {
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m_lblLineIndex->setText("--");
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m_lblLinePointCount->setText("--");
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return;
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}
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if (line.mode == LineSelectMode::Vertical) {
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m_lblLineIndex->setText(QString::number(line.lineIndex));
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statusBar()->showMessage(QString("已选中索引 %1 的线，共 %2 个点")
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.arg(line.lineIndex)
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.arg(line.pointCount));
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} else {
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// 横向选线：显示索引（从0开始）
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m_lblLineIndex->setText(QString::number(line.pointIndex));
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statusBar()->showMessage(QString("已选中索引 %1 的横向线，共 %2 个点")
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.arg(line.pointIndex)
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.arg(line.pointCount));
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}
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m_lblLinePointCount->setText(QString::number(line.pointCount));
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}
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void CloudViewMainWindow::onSelectLineByNumber()
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{
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if (m_glWidget->getCloudCount() == 0) {
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QMessageBox::warning(this, "提示", "请先加载点云");
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return;
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}
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QString text = m_lineNumberInput->text().trimmed();
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if (text.isEmpty()) {
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QMessageBox::warning(this, "提示", "请输入索引");
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return;
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}
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bool ok;
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int index = text.toInt(&ok);
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if (!ok || index < 0) {
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QMessageBox::warning(this, "提示", "请输入有效的索引（非负整数）");
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return;
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}
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bool success = false;
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if (m_rbVertical->isChecked()) {
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// 纵向选线：直接使用索引
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success = m_glWidget->selectLineByIndex(index);
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if (!success) {
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QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index));
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}
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} else {
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// 横向选线：直接使用索引
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success = m_glWidget->selectHorizontalLineByIndex(index);
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if (!success) {
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QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index));
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}
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}
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}
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