增加3D数据的移除功能

CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.14)
+
+project(WoodCamUtils LANGUAGES CXX)
+
+option(WOODCAM_BUILD_CLOUDVIEW3D "Build the Qt/OpenGL CloudView3D utility" ON)
+
+# VrCommon is a header-oriented compatibility module. Keep it as an interface
+# target so consumers get the canonical VZNL_Types.h include path.
+add_library(VrCommon INTERFACE)
+target_include_directories(VrCommon INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}/VrCommon/Inc
+)
+
+if(WOODCAM_BUILD_CLOUDVIEW3D)
+    add_subdirectory(CloudView3D)
+endif()

CloudView3D/CMakeLists.txt

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.14)
+
+find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets OpenGL)
+
+if(NOT TARGET VrCommon)
+    add_library(VrCommon INTERFACE)
+    target_include_directories(VrCommon INTERFACE
+        ${CMAKE_CURRENT_SOURCE_DIR}/../VrCommon/Inc
+    )
+endif()
+
+add_library(CloudView3D STATIC
+    Src/PointCloudGLWidget.cpp
+    Inc/CloudView3D.h
+    Inc/CloudView3DTypes.h
+    Inc/PointCloudGLWidget.h
+)
+
+set_target_properties(CloudView3D PROPERTIES
+    CXX_STANDARD 17
+    CXX_STANDARD_REQUIRED ON
+    AUTOMOC ON
+)
+
+target_include_directories(CloudView3D PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/Inc
+    ${CMAKE_CURRENT_SOURCE_DIR}/../VrCommon/Inc
+)
+
+target_link_libraries(CloudView3D PUBLIC
+    VrCommon
+    Qt5::Core
+    Qt5::Gui
+    Qt5::Widgets
+    Qt5::OpenGL
+)
+
+if(WIN32)
+    target_link_libraries(CloudView3D PUBLIC opengl32 glu32)
+elseif(UNIX AND NOT APPLE)
+    target_link_libraries(CloudView3D PUBLIC GL GLU)
+endif()

CloudView3D/CloudView3D.pro

@@ -12,7 +12,7 @@ win32-msvc {
 INCLUDEPATH += $$PWD/Inc
 INCLUDEPATH += $$PWD/../VrUtils/Inc
 INCLUDEPATH += $$PWD/../VrCommon/Inc
-INCLUDEPATH += $$PWD/../../Device/SDK/VzNLSDK/Inc
+# VZNL_Types.h is maintained in the shared Utils module.
 
 HEADERS += \
     Inc/CloudView3D.h \

CloudView3D/Src/PointCloudGLWidget.cpp

@@ -4,7 +4,11 @@
 #include <QPainter>
 #include <cfloat>
 #include <map>
-#include "VrLog.h"
+
+#define CLOUD_LOG_INFO(...) \
+    qInfo().noquote() << QString::asprintf(__VA_ARGS__).trimmed()
+#define CLOUD_LOG_WARN(...) \
+    qWarning().noquote() << QString::asprintf(__VA_ARGS__).trimmed()
 
 // OpenGL/GLU 头文件
 #ifdef _WIN32
@@ -105,7 +109,7 @@ void PointCloudGLWidget::initializeGL()
 {
     initializeOpenGLFunctions();
 
-    LOG_INFO("[CloudView] OpenGL initialized, version: %s\n", reinterpret_cast<const char*>(glGetString(GL_VERSION)));
+    CLOUD_LOG_INFO("[CloudView] OpenGL initialized, version: %s\n", reinterpret_cast<const char*>(glGetString(GL_VERSION)));
 
     glClearColor(0.15f, 0.15f, 0.15f, 1.0f);
     glEnable(GL_DEPTH_TEST);
@@ -142,7 +146,7 @@ void PointCloudGLWidget::paintGL()
     if (++frameCount % 100 == 0) {
         // 从四元数转换为欧拉角用于显示
         QVector3D euler = m_rotation.toEulerAngles();
-        LOG_INFO("[CloudView] Current rotation: pitch=%.1f, yaw=%.1f, roll=%.1f\n",
+        CLOUD_LOG_INFO("[CloudView] Current rotation: pitch=%.1f, yaw=%.1f, roll=%.1f\n",
                  euler.x(), euler.y(), euler.z());
     }
 
@@ -242,10 +246,10 @@ void PointCloudGLWidget::paintGL()
 
 void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString& name)
 {
-    LOG_INFO("[CloudView] addPointCloud called, cloud size: %zu\n", cloud.size());
+    CLOUD_LOG_INFO("[CloudView] addPointCloud called, cloud size: %zu\n", cloud.size());
 
     if (cloud.empty()) {
-        LOG_WARN("[CloudView] Cloud is empty, returning\n");
+        CLOUD_LOG_WARN("[CloudView] Cloud is empty, returning\n");
         return;
     }
 
@@ -309,7 +313,7 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
         data.pointsPerLine = static_cast<int>(cloud.size()) / data.totalLines;
     }
 
-    LOG_INFO("[CloudView] Valid vertices count: %zu, colorIndex: %d, totalLines: %d, pointsPerLine: %d\n",
+    CLOUD_LOG_INFO("[CloudView] Valid vertices count: %zu, colorIndex: %d, totalLines: %d, pointsPerLine: %d\n",
              data.vertices.size() / 3, data.colorIndex, data.totalLines, data.pointsPerLine);
 
     m_pointClouds.push_back(std::move(data));
@@ -320,10 +324,10 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
     doneCurrent();
 
     computeBoundingBox();
-    LOG_INFO("[CloudView] BoundingBox min: (%.3f, %.3f, %.3f) max: (%.3f, %.3f, %.3f)\n",
+    CLOUD_LOG_INFO("[CloudView] BoundingBox min: (%.3f, %.3f, %.3f) max: (%.3f, %.3f, %.3f)\n",
              m_minBound.x(), m_minBound.y(), m_minBound.z(),
              m_maxBound.x(), m_maxBound.y(), m_maxBound.z());
-    LOG_INFO("[CloudView] Center: (%.3f, %.3f, %.3f) Distance: %.3f\n",
+    CLOUD_LOG_INFO("[CloudView] Center: (%.3f, %.3f, %.3f) Distance: %.3f\n",
              m_center.x(), m_center.y(), m_center.z(), m_distance);
 
     resetView();
@@ -420,7 +424,7 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
             group.indices = std::move(pair.second);
             data.customPointSizeGroups.push_back(std::move(group));
         }
-        LOG_INFO("[CloudView] Found %zu custom point size groups\n", data.customPointSizeGroups.size());
+        CLOUD_LOG_INFO("[CloudView] Found %zu custom point size groups\n", data.customPointSizeGroups.size());
     }
 
     // 计算每线点数
@@ -493,7 +497,7 @@ void PointCloudGLWidget::resetView()
     m_rotation = QQuaternion::fromEulerAngles(m_rotationX, m_rotationY, m_rotationZ);
     m_pan = QVector3D(0, 0, 0);
 
-    LOG_INFO("[CloudView] resetView: size=(%.3f, %.3f, %.3f) maxSize=%.3f distance=%.3f\n",
+    CLOUD_LOG_INFO("[CloudView] resetView: size=(%.3f, %.3f, %.3f) maxSize=%.3f distance=%.3f\n",
              size.x(), size.y(), size.z(), maxSize, m_distance);
 
     emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
@@ -530,7 +534,7 @@ void PointCloudGLWidget::setViewAngles(float rotX, float rotY, float rotZ)
     // 从欧拉角转换为四元数（ZYX顺序）
     m_rotation = QQuaternion::fromEulerAngles(rotX, rotY, rotZ);
 
-    LOG_INFO("[CloudView] setViewAngles: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", rotX, rotY, rotZ);
+    CLOUD_LOG_INFO("[CloudView] setViewAngles: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", rotX, rotY, rotZ);
 
     emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
     update();
@@ -646,7 +650,7 @@ void PointCloudGLWidget::updateSelectedPointCoord(int index, float x, float y, f
     m_selectedPoints[index].y = y;
     m_selectedPoints[index].z = z;
 
-    LOG_INFO("[CloudView] Updated selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
+    CLOUD_LOG_INFO("[CloudView] Updated selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
 
     // 刷新显示
     update();
@@ -671,7 +675,7 @@ void PointCloudGLWidget::setSelectedPointCoord(int index, float x, float y, floa
     m_selectedPoints[index].lineIndex = -1;
     m_selectedPoints[index].pointIndexInLine = -1;
 
-    LOG_INFO("[CloudView] Set selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
+    CLOUD_LOG_INFO("[CloudView] Set selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
 
     // 刷新显示
     update();
@@ -1032,10 +1036,10 @@ SelectedPointInfo PointCloudGLWidget::pickPoint(int screenX, int screenY)
             }
         }
 
-        LOG_INFO("[CloudView] Point selected: (%.3f, %.3f, %.3f) lineIndex=%d pointIndexInLine=%d screenDist=%.1f\n",
+        CLOUD_LOG_INFO("[CloudView] Point selected: (%.3f, %.3f, %.3f) lineIndex=%d pointIndexInLine=%d screenDist=%.1f\n",
                  bestX, bestY, bestZ, bestLineIndex, result.pointIndexInLine, std::sqrt(minScreenDist));
     } else {
-        LOG_INFO("[CloudView] No point selected, minScreenDist=%.1f\n", std::sqrt(minScreenDist));
+        CLOUD_LOG_INFO("[CloudView] No point selected, minScreenDist=%.1f\n", std::sqrt(minScreenDist));
     }
 
     return result;