Utils/CloudView/Inc/PointCloudGLWidget.h

#ifndef POINT_CLOUD_GL_WIDGET_H
#define POINT_CLOUD_GL_WIDGET_H

#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <QOpenGLBuffer>
#include <QMatrix4x4>
#include <QVector3D>
#include <QMouseEvent>
#include <QWheelEvent>
#include <vector>

#include "PointCloudConverter.h"

/**
 * @brief 点云显示颜色枚举
 */
enum class PointCloudColor
{
    White,
    Red,
    Green,
    Blue,
    Yellow,
    Cyan,
    Magenta,
    Original
};

/**
 * @brief 选中的点信息
 */
struct SelectedPointInfo
{
    bool valid;
    size_t index;
    float x, y, z;
    int cloudIndex;
    int lineIndex;        // 所属线索引
    int pointIndexInLine; // 点在线中的索引

    SelectedPointInfo() : valid(false), index(0), x(0), y(0), z(0), cloudIndex(-1), lineIndex(-1), pointIndexInLine(-1) {}
};

/**
 * @brief 选线模式
 */
enum class LineSelectMode
{
    Vertical,   // 纵向选线（同一条扫描线）
    Horizontal  // 横向选线（所有线的相同索引点）
};

/**
 * @brief 欧拉角旋转顺序
 */
enum class EulerRotationOrder
{
    ZYX,  // Yaw-Pitch-Roll（最常用）
    XYZ,  // Roll-Pitch-Yaw
    ZXY,  // Yaw-Roll-Pitch
    YXZ,  // Pitch-Roll-Yaw
    XZY,  // Roll-Yaw-Pitch
    YZX   // Pitch-Yaw-Roll
};

/**
 * @brief 选中的线信息
 */
struct SelectedLineInfo
{
    bool valid;
    int cloudIndex;       // 点云索引
    int lineIndex;        // 线索引（纵向选线时使用）
    int pointIndex;       // 点索引（横向选线时使用）
    int pointCount;       // 该线上的点数
    LineSelectMode mode;  // 选线模式

    SelectedLineInfo() : valid(false), cloudIndex(-1), lineIndex(-1), pointIndex(-1), pointCount(0), mode(LineSelectMode::Vertical) {}
};

/**
 * @brief 线段数据
 */
struct LineSegment
{
    float x1, y1, z1;  // 起点
    float x2, y2, z2;  // 终点
    float r, g, b;     // 颜色 (0-1)

    LineSegment() : x1(0), y1(0), z1(0), x2(0), y2(0), z2(0), r(1), g(1), b(1) {}
    LineSegment(float _x1, float _y1, float _z1, float _x2, float _y2, float _z2, float _r = 1.0f, float _g = 1.0f, float _b = 1.0f)
        : x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b) {}
};

/**
 * @brief 姿态点数据
 *
 * 坐标系约定（右手坐标系）：
 * - X轴：红色，指向右
 * - Y轴：绿色，指向上
 * - Z轴：蓝色，指向观察者
 *
 * 欧拉角旋转顺序：ZYX（Yaw-Pitch-Roll）
 * - rz: 绕Z轴旋转（偏航角，Yaw）
 * - ry: 绕Y轴旋转（俯仰角，Pitch）
 * - rx: 绕X轴旋转（滚转角，Roll）
 */
struct PosePoint
{
    float x, y, z;        // 位置
    float rx, ry, rz;     // 欧拉角（度）
    float scale;          // 坐标系大小

    PosePoint() : x(0), y(0), z(0), rx(0), ry(0), rz(0), scale(10.0f) {}
    PosePoint(float _x, float _y, float _z, float _rx, float _ry, float _rz, float _scale = 10.0f)
        : x(_x), y(_y), z(_z), rx(_rx), ry(_ry), rz(_rz), scale(_scale) {}
};

/**
 * @brief 点云 OpenGL 渲染控件
 */
class PointCloudGLWidget : public QOpenGLWidget, protected QOpenGLFunctions
{
    Q_OBJECT

public:
    explicit PointCloudGLWidget(QWidget* parent = nullptr);
    ~PointCloudGLWidget() override;

    void addPointCloud(const PointCloudXYZ& cloud, const QString& name = "");
    void addPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "");
    void clearPointClouds();
    void setPointCloudColor(PointCloudColor color);
    void setPointSize(float size);
    void resetView();

    /**
     * @brief 设置视角旋转角度（不改变缩放和平移）
     * @param rotX X轴旋转角度（俯仰）
     * @param rotY Y轴旋转角度（偏航）
     * @param rotZ Z轴旋转角度（滚转）
     */
    void setViewAngles(float rotX, float rotY, float rotZ = 0.0f);

    QVector<SelectedPointInfo> getSelectedPoints() const { return m_selectedPoints; }
    SelectedLineInfo getSelectedLine() const { return m_selectedLine; }
    void clearSelectedPoints();
    void clearSelectedLine();
    float calculateDistance(const SelectedPointInfo& p1, const SelectedPointInfo& p2);

    /**
     * @brief 通过线索引选择线（纵向）
     */
    bool selectLineByIndex(int lineIndex);

    /**
     * @brief 通过点索引选择横向线（所有线的相同索引点）
     */
    bool selectHorizontalLineByIndex(int pointIndex);

    /**
     * @brief 设置选线模式
     */
    void setLineSelectMode(LineSelectMode mode) { m_lineSelectMode = mode; }

    /**
     * @brief 设置欧拉角旋转顺序
     */
    void setEulerRotationOrder(EulerRotationOrder order) { m_eulerRotationOrder = order; }

    /**
     * @brief 获取欧拉角旋转顺序
     */
    EulerRotationOrder getEulerRotationOrder() const { return m_eulerRotationOrder; }

    /**
     * @brief 设置是否启用测距功能
     */
    void setMeasureDistanceEnabled(bool enabled) { m_measureDistanceEnabled = enabled; }

    /**
     * @brief 获取测距功能是否启用
     */
    bool isMeasureDistanceEnabled() const { return m_measureDistanceEnabled; }

    /**
     * @brief 获取选中线上的所有点坐标
     * @return 点坐标列表，每个元素为 (x, y, z)
     */
    QVector<QVector3D> getSelectedLinePoints() const;

    /**
     * @brief 设置列表高亮点（与选点功能区分）
     * @param point 点坐标，如果为空则清除高亮
     */
    void setListHighlightPoint(const QVector3D& point);

    /**
     * @brief 清除列表高亮点
     */
    void clearListHighlightPoint();

    /**
     * @brief 获取第一个点云的数据（用于旋转和保存）
     */
    bool getFirstCloudData(PointCloudXYZ& cloud) const;

    /**
     * @brief 替换第一个点云（用于显示旋转后的数据）
     */
    void replaceFirstCloud(const PointCloudXYZ& cloud, const QString& name);

    /**
     * @brief 获取点云数量
     */
    size_t getCloudCount() const { return m_pointClouds.size(); }

    /**
     * @brief 对所有点云应用 4x4 变换矩阵
     * @param matrix 4x4 变换矩阵
     */
    void transformAllClouds(const QMatrix4x4& matrix);

    /**
     * @brief 添加线段
     */
    void addLineSegments(const QVector<LineSegment>& segments);

    /**
     * @brief 清除所有线段
     */
    void clearLineSegments();

    /**
     * @brief 添加姿态点
     */
    void addPosePoints(const QVector<PosePoint>& poses);

    /**
     * @brief 清除所有姿态点
     */
    void clearPosePoints();

signals:
    void pointSelected(const SelectedPointInfo& point);
    void twoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance);
    void lineSelected(const SelectedLineInfo& line);
    void viewAnglesChanged(float rotX, float rotY, float rotZ);

protected:
    void initializeGL() override;
    void resizeGL(int w, int h) override;
    void paintGL() override;
    void mousePressEvent(QMouseEvent* event) override;
    void mouseMoveEvent(QMouseEvent* event) override;
    void mouseReleaseEvent(QMouseEvent* event) override;
    void wheelEvent(QWheelEvent* event) override;
    void keyPressEvent(QKeyEvent* event) override;

private:
    struct PointCloudData
    {
        std::vector<float> vertices;
        std::vector<float> colors;
        std::vector<int> lineIndices;      // 每个点所属的线索引
        std::vector<int> originalIndices;  // 每个显示点在原始点云中的索引（用于计算原始index）
        bool hasColor;
        bool hasLineInfo;                  // 是否有线信息
        QString name;
        int colorIndex;  // 点云颜色索引
        int totalLines;  // 总线数
        int pointsPerLine; // 每线点数（网格化点云）

        // VBO 缓冲区
        QOpenGLBuffer vertexBuffer;  // 顶点 VBO
        QOpenGLBuffer colorBuffer;   // 颜色 VBO
        bool vboCreated;             // VBO 是否已创建

        PointCloudData()
            : hasColor(false), hasLineInfo(false), colorIndex(0)
            , totalLines(0), pointsPerLine(0)
            , vertexBuffer(QOpenGLBuffer::VertexBuffer)
            , colorBuffer(QOpenGLBuffer::VertexBuffer)
            , vboCreated(false)
        {}

        // 移动构造函数（QOpenGLBuffer 不支持拷贝）
        PointCloudData(PointCloudData&& other) noexcept
            : vertices(std::move(other.vertices))
            , colors(std::move(other.colors))
            , lineIndices(std::move(other.lineIndices))
            , originalIndices(std::move(other.originalIndices))
            , hasColor(other.hasColor)
            , hasLineInfo(other.hasLineInfo)
            , name(std::move(other.name))
            , colorIndex(other.colorIndex)
            , totalLines(other.totalLines)
            , pointsPerLine(other.pointsPerLine)
            , vertexBuffer(QOpenGLBuffer::VertexBuffer)
            , colorBuffer(QOpenGLBuffer::VertexBuffer)
            , vboCreated(false)
        {
            // VBO 需要在 GL 上下文中重建，标记为未创建
            other.vboCreated = false;
        }

        PointCloudData& operator=(PointCloudData&& other) noexcept
        {
            if (this != &other) {
                // 释放自身 VBO
                if (vboCreated) {
                    vertexBuffer.destroy();
                    colorBuffer.destroy();
                    vboCreated = false;
                }
                vertices = std::move(other.vertices);
                colors = std::move(other.colors);
                lineIndices = std::move(other.lineIndices);
                originalIndices = std::move(other.originalIndices);
                hasColor = other.hasColor;
                hasLineInfo = other.hasLineInfo;
                name = std::move(other.name);
                colorIndex = other.colorIndex;
                totalLines = other.totalLines;
                pointsPerLine = other.pointsPerLine;
                // VBO 需要重建
                other.vboCreated = false;
            }
            return *this;
        }

        // 禁止拷贝
        PointCloudData(const PointCloudData&) = delete;
        PointCloudData& operator=(const PointCloudData&) = delete;
    };

    void computeBoundingBox();
    void setCurrentColor(PointCloudColor color);
    void setColorByIndex(int colorIndex);  // 根据索引设置颜色
    SelectedPointInfo pickPoint(int screenX, int screenY);
    void drawSelectedPoints();
    void drawMeasurementLine();
    void drawAxis();
    void drawSelectedLine();     // 绘制选中的线
    void drawLineSegments();     // 绘制线段
    void drawPosePoints();       // 绘制姿态点
    void uploadToVBO(PointCloudData& data);    // 上传数据到 VBO
    void releaseVBO(PointCloudData& data);     // 释放 VBO 资源

    std::vector<PointCloudData> m_pointClouds;

    QMatrix4x4 m_projection;
    QMatrix4x4 m_view;
    QMatrix4x4 m_model;

    float m_distance;
    float m_rotationX;
    float m_rotationY;
    float m_rotationZ;
    QVector3D m_center;
    QVector3D m_pan;
    QVector3D m_minBound;
    QVector3D m_maxBound;

    QPoint m_lastMousePos;
    bool m_leftButtonPressed;
    bool m_rightButtonPressed;
    bool m_middleButtonPressed;

    PointCloudColor m_currentColor;
    float m_pointSize;

    LineSelectMode m_lineSelectMode;
    EulerRotationOrder m_eulerRotationOrder;
    bool m_measureDistanceEnabled;
    QVector<SelectedPointInfo> m_selectedPoints;
    SelectedLineInfo m_selectedLine;
    static const int MAX_SELECTED_POINTS = 2;

    // 列表高亮点（与选点功能区分）
    bool m_hasListHighlightPoint;
    QVector3D m_listHighlightPoint;

    int m_colorIndex;  // 颜色轮换索引
    static const int COLOR_COUNT = 7;  // 可用颜色数量

    // 线段和姿态点数据
    QVector<LineSegment> m_lineSegments;
    QVector<PosePoint> m_posePoints;
};

#endif // POINT_CLOUD_GL_WIDGET_H