Utils/CloudView/Src/CloudViewMainWindow.cpp

#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 <cmath>
#include "VrLog.h"
#include "LaserDataLoader.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)
    , m_linePointsDialog(nullptr)
    , m_linePointsTable(nullptr)
{
    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);
    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());

    // 视图方向组
    layout->addWidget(createViewGroup());

    // 创建 Tab 控件
    QTabWidget* tabWidget = new QTabWidget(widget);
    tabWidget->addTab(createMeasurePage(), "选点测距");
    tabWidget->addTab(createLinePage(), "选线");
    tabWidget->addTab(createTransformPage(), "矩阵变换");
    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_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;
}

QGroupBox* CloudViewMainWindow::createViewGroup()
{
    QGroupBox* group = new QGroupBox("视图方向", this);
    group->setMaximumWidth(350);
    QVBoxLayout* mainLayout = new QVBoxLayout(group);
    mainLayout->setSpacing(4);
    mainLayout->setContentsMargins(5, 5, 5, 5);

    // 视角预设按钮，使用水平布局
    struct ViewPreset {
        const char* name;
        float rotX;
        float rotY;
        float rotZ;
    };

    ViewPreset presets[] = {
        {"正视",    0.0f,    0.0f,   0.0f},
        {"后视",    0.0f,  180.0f,   0.0f},
        {"左侧",    0.0f,  -90.0f,   0.0f},
        {"右侧",    0.0f,   90.0f,   0.0f},
        {"俯视",  -90.0f,    0.0f,   0.0f},
        {"仰视",   90.0f,    0.0f,   0.0f},
    };

    QHBoxLayout* btnLayout = new QHBoxLayout();
    btnLayout->setSpacing(3);
    for (const auto& preset : presets) {
        QPushButton* btn = new QPushButton(preset.name, group);
        btn->setMinimumHeight(24);
        btn->setMaximumHeight(24);
        float rx = preset.rotX;
        float ry = preset.rotY;
        float rz = preset.rotZ;
        connect(btn, &QPushButton::clicked, this, [this, rx, ry, rz]() {
            m_glWidget->setViewAngles(rx, ry, rz);
            // 更新显示的角度值
            m_editRotX->setText(QString::number(rx, 'f', 1));
            m_editRotY->setText(QString::number(ry, 'f', 1));
            m_editRotZ->setText(QString::number(rz, 'f', 1));
        });
        btnLayout->addWidget(btn);
    }
    mainLayout->addLayout(btnLayout);

    QLabel* lblTip2 = new QLabel("左键旋转XY，Alt+左键或右键旋转Z轴，中键拖动平移", group);
    lblTip2->setWordWrap(true);
    lblTip2->setStyleSheet("color: gray; font-size: 12px;");
    mainLayout->addWidget(lblTip2);

    // 旋转角度输入（三行布局）
    QGridLayout* angleGrid = new QGridLayout();
    angleGrid->setSpacing(5);
    angleGrid->setContentsMargins(0, 0, 0, 0);

    // RotX
    QLabel* lblRotX = new QLabel("RotX:", group);
    angleGrid->addWidget(lblRotX, 0, 0);
    m_editRotX = new QLineEdit("0.0", group);
    m_editRotX->setMaximumWidth(60);
    m_editRotX->setMaximumHeight(24);
    angleGrid->addWidget(m_editRotX, 0, 1);

    // RotY
    QLabel* lblRotY = new QLabel("RotY:", group);
    angleGrid->addWidget(lblRotY, 0, 2);
    m_editRotY = new QLineEdit("0.0", group);
    m_editRotY->setMaximumWidth(60);
    m_editRotY->setMaximumHeight(24);
    angleGrid->addWidget(m_editRotY, 0, 3);

    // RotZ
    QLabel* lblRotZ = new QLabel("RotZ:", group);
    angleGrid->addWidget(lblRotZ, 0, 4);
    m_editRotZ = new QLineEdit("0.0", group);
    m_editRotZ->setMaximumWidth(60);
    m_editRotZ->setMaximumHeight(24);
    angleGrid->addWidget(m_editRotZ, 0, 5);

    // 应用按钮
    QPushButton* btnApply = new QPushButton("应用", group);
    btnApply->setMaximumWidth(50);
    btnApply->setMaximumHeight(24);
    connect(btnApply, &QPushButton::clicked, this, [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);
        }
    });
    angleGrid->addWidget(btnApply, 0, 6);

    mainLayout->addLayout(angleGrid);

    return group;
}

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);

    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("--");
    });
    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);

    // 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);

    // 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: 10px;");
    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 *.txt);;PCD 文件 (*.pcd);;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();

    // PCD 文件：检查是否有非白色的颜色数据来判断
    if (ext == "pcd") {
        hadColor = false;
        for (size_t i = 0; i < rgbCloud.points.size(); ++i) {
            const auto& pt = rgbCloud.points[i];
            if (pt.r != 255 || pt.g != 255 || pt.b != 255) {
                hadColor = true;
                break;
            }
        }
    }

    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 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;
            segments.append(LineSegment(
                p1.x, p1.y, p1.z,
                p2.x, p2.y, p2.z,
                r, g, b));
        }
    }

    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 (!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;

        // 固定大小为10
        float 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::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("--");

    // 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("--");
    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 x:%3 y:%4 z:%5")
                .arg(selectedPoints[0].lineIndex)
                .arg(selectedPoints[0].pointIndexInLine)
                .arg(selectedPoints[0].x, 0, 'f', 3)
                .arg(selectedPoints[0].y, 0, 'f', 3)
                .arg(selectedPoints[0].z, 0, 'f', 3);
        } else {
            text = QString("点1: x:%1 y:%2 z:%3")
                .arg(selectedPoints[0].x, 0, 'f', 3)
                .arg(selectedPoints[0].y, 0, 'f', 3)
                .arg(selectedPoints[0].z, 0, 'f', 3);
        }
        m_lblPoint1->setText(text);
    } else {
        m_lblPoint1->setText("点1: --");
    }

    if (selectedPoints.size() >= 2 && selectedPoints[1].valid) {
        QString text;
        if (selectedPoints[1].lineIndex >= 0) {
            text = QString("点2: 线号:%1 点序:%2 x:%3 y:%4 z:%5")
                .arg(selectedPoints[1].lineIndex)
                .arg(selectedPoints[1].pointIndexInLine)
                .arg(selectedPoints[1].x, 0, 'f', 3)
                .arg(selectedPoints[1].y, 0, 'f', 3)
                .arg(selectedPoints[1].z, 0, 'f', 3);
        } else {
            text = QString("点2: x:%1 y:%2 z:%3")
                .arg(selectedPoints[1].x, 0, 'f', 3)
                .arg(selectedPoints[1].y, 0, 'f', 3)
                .arg(selectedPoints[1].z, 0, 'f', 3);
        }
        m_lblPoint2->setText(text);
    } else {
        m_lblPoint2->setText("点2: --");
    }
}

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()
{
    auto selectedPoints = m_glWidget->getSelectedPoints();
    if (selectedPoints.isEmpty() || !selectedPoints[0].valid) {
        QMessageBox::warning(this, "提示", "请先选择点1（Ctrl+左键点击点云）");
        return;
    }

    const auto& point = selectedPoints[0];

    // 读取姿态参数
    bool ok = true;
    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;
    }

    // 固定大小为10
    float scale = 10.0f;

    // 清除之前的姿态点
    m_glWidget->clearPosePoints();

    // 创建点1的姿态点
    PosePoint pose1(point.x, point.y, point.z, rx, ry, rz, scale);
    QVector<PosePoint> poses;
    poses.append(pose1);

    // 如果点2也存在，添加点2的姿态
    if (selectedPoints.size() >= 2 && selectedPoints[1].valid) {
        const auto& point2 = selectedPoints[1];
        float rx2 = m_editRx2->text().toFloat(&ok);
        float ry2 = m_editRy2->text().toFloat(&ok);
        float rz2 = m_editRz2->text().toFloat(&ok);
        if (ok) {
            PosePoint pose2(point2.x, point2.y, point2.z, 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 (%.3f, %.3f, %.3f) 旋转(%.1f°, %.1f°, %.1f°)")
        .arg(point.x).arg(point.y).arg(point.z)
        .arg(rx).arg(ry).arg(rz));

    LOG_INFO("[CloudView] Show pose1 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n",
             point.x, point.y, point.z, rx, ry, rz);
}

void CloudViewMainWindow::onShowPose2()
{
    auto selectedPoints = m_glWidget->getSelectedPoints();
    if (selectedPoints.size() < 2 || !selectedPoints[1].valid) {
        QMessageBox::warning(this, "提示", "请先选择点2（启用测距后，Ctrl+左键点击第二个点）");
        return;
    }

    const auto& point = selectedPoints[1];

    // 读取姿态参数
    bool ok = true;
    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;
    }

    // 固定大小为10
    float scale = 10.0f;

    // 清除之前的姿态点
    m_glWidget->clearPosePoints();

    // 创建点2的姿态点
    PosePoint pose2(point.x, point.y, point.z, rx, ry, rz, scale);
    QVector<PosePoint> poses;

    // 如果点1也存在，添加点1的姿态
    if (selectedPoints[0].valid) {
        const auto& point1 = selectedPoints[0];
        float rx1 = m_editRx1->text().toFloat(&ok);
        float ry1 = m_editRy1->text().toFloat(&ok);
        float rz1 = m_editRz1->text().toFloat(&ok);
        if (ok) {
            PosePoint pose1(point1.x, point1.y, point1.z, rx1, ry1, rz1, scale);
            poses.append(pose1);
        }
    }

    poses.append(pose2);

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

    statusBar()->showMessage(QString("已显示点2姿态 (%.3f, %.3f, %.3f) 旋转(%.1f°, %.1f°, %.1f°)")
        .arg(point.x).arg(point.y).arg(point.z)
        .arg(rx).arg(ry).arg(rz));

    LOG_INFO("[CloudView] Show pose2 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n",
             point.x, point.y, point.z, 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).arg(y1).arg(z1)
        .arg(x2).arg(y2).arg(z2)
        .arg(distance));

    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("已清除输入的线段");
}

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

    QGroupBox* group = new QGroupBox("矩阵变换", page);
    group->setMaximumWidth(400);
    QVBoxLayout* groupLayout = new QVBoxLayout(group);

    // 操作说明
    QLabel* lblTip = new QLabel("输入或从文件加载 4x4 变换矩阵，应用到所有点云", group);
    lblTip->setWordWrap(true);
    lblTip->setStyleSheet("color: gray; font-size: 10px;");
    groupLayout->addWidget(lblTip);

    // 矩阵编辑区域
    QLabel* lblMatrix = new QLabel("变换矩阵 (4x4):", group);
    lblMatrix->setStyleSheet("font-weight: bold;");
    groupLayout->addWidget(lblMatrix);

    m_matrixEdit = new QTextEdit(group);
    m_matrixEdit->setFont(QFont("Consolas", 10));
    m_matrixEdit->setMinimumHeight(100);
    m_matrixEdit->setMaximumHeight(120);
    // 初始化为单位矩阵
    m_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"
    );
    groupLayout->addWidget(m_matrixEdit);

    // 从文件加载按钮
    m_btnLoadMatrix = new QPushButton("从文件加载矩阵", group);
    m_btnLoadMatrix->setMinimumHeight(30);
    connect(m_btnLoadMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onLoadMatrix);
    groupLayout->addWidget(m_btnLoadMatrix);

    // 按钮行
    QHBoxLayout* btnLayout = new QHBoxLayout();
    m_btnApplyMatrix = new QPushButton("应用变换", group);
    m_btnApplyMatrix->setMinimumHeight(30);
    m_btnApplyMatrix->setStyleSheet("QPushButton { background-color: #4CAF50; color: white; font-weight: bold; }"
                                     "QPushButton:hover { background-color: #45a049; }");
    connect(m_btnApplyMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onApplyMatrix);
    btnLayout->addWidget(m_btnApplyMatrix);

    m_btnResetMatrix = new QPushButton("重置矩阵", group);
    connect(m_btnResetMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onResetMatrix);
    btnLayout->addWidget(m_btnResetMatrix);
    groupLayout->addLayout(btnLayout);

    // 文件格式说明
    QLabel* lblFormat = new QLabel(
        "矩阵文件格式：4行，每行4个数值\n"
        "分隔符：空格/Tab/逗号\n"
        "#开头的行为注释", group);
    lblFormat->setWordWrap(true);
    lblFormat->setStyleSheet("color: gray; font-size: 9px;");
    groupLayout->addWidget(lblFormat);

    layout->addWidget(group);
    layout->addStretch();
    return page;
}

void CloudViewMainWindow::onLoadMatrix()
{
    QString fileName = QFileDialog::getOpenFileName(
        this,
        "打开矩阵文件",
        QString(),
        "文本文件 (*.txt);;所有文件 (*.*)"
    );

    if (fileName.isEmpty()) {
        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);
    QVector<QVector<float>> rows;

    while (!in.atEnd()) {
        QString line = in.readLine().trimmed();
        // 跳过空行和注释
        if (line.isEmpty() || line.startsWith('#')) {
            continue;
        }

        // 将逗号替换为空格，统一分隔符
        line.replace(',', ' ');
        line.replace('\t', ' ');
        QStringList parts = line.split(' ', QString::SkipEmptyParts);

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

        if (!ok || row.size() != 4) {
            QMessageBox::warning(this, "格式错误",
                QString("第 %1 行格式无效，需要4个数值").arg(rows.size() + 1));
            file.close();
            return;
        }
        rows.append(row);

        if (rows.size() == 4) {
            break;
        }
    }
    file.close();

    if (rows.size() != 4) {
        QMessageBox::warning(this, "格式错误",
            QString("矩阵需要4行数据，当前只有 %1 行").arg(rows.size()));
        return;
    }

    // 将矩阵显示到编辑区域
    QString matrixText;
    for (int r = 0; r < 4; ++r) {
        QStringList vals;
        for (int c = 0; c < 4; ++c) {
            vals.append(QString::number(static_cast<double>(rows[r][c]), 'f', 6));
        }
        matrixText += vals.join("  ");
        if (r < 3) matrixText += "\n";
    }
    m_matrixEdit->setPlainText(matrixText);

    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());
}

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

    // 解析编辑区域中的矩阵
    QString text = m_matrixEdit->toPlainText().trimmed();
    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', ' ');
        QStringList parts = cleaned.split(' ', QString::SkipEmptyParts);

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

        if (!ok || row.size() != 4) {
            QMessageBox::warning(this, "格式错误", "矩阵格式无效，需要4行4列数值");
            return;
        }
        rows.append(row);
    }

    if (rows.size() != 4) {
        QMessageBox::warning(this, "格式错误",
            QString("矩阵需要4行数据，当前 %1 行").arg(rows.size()));
        return;
    }

    // 构造 QMatrix4x4（按行优先存储）
    float values[16];
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            values[r * 4 + c] = rows[r][c];
        }
    }
    QMatrix4x4 matrix(values);

    // 检查是否为单位矩阵
    if (matrix.isIdentity()) {
        QMessageBox::information(this, "提示", "当前矩阵为单位矩阵，无需变换");
        return;
    }

    // 应用变换
    m_glWidget->transformAllClouds(matrix);

    statusBar()->showMessage("已应用矩阵变换到所有点云");
    LOG_INFO("[CloudView] Applied matrix transform to all point clouds\n");
}

void CloudViewMainWindow::onResetMatrix()
{
    m_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"
    );
    statusBar()->showMessage("矩阵已重置为单位矩阵");
}

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));
}