merge:合并提取的PathUtils，加图片显示的优化

1.  将原eventFilter中的缩放按钮位置计算代码抽离为updateZoomButtonGeometry独立函数
2.  在创建视图区域时主动调用该函数初始化按钮位置
3.  统一处理GL控件resize时的按钮重定位逻辑，提升代码可读性
4.  修复原代码未在初始化时设置按钮位置的问题
5.  新增按钮置顶操作确保缩放按钮始终显示在最上层

CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.14)
+
+project(WoodCamUtils LANGUAGES C CXX)
+
+option(WOODCAM_BUILD_CLOUDVIEW3D "Build the Qt/OpenGL CloudView3D utility" ON)
+option(WOODCAM_BUILD_CLOUDUTILS "Build the CloudUtils static library" ON)
+
+# VrCommon is a header-oriented compatibility module. Keep it as an interface
+# target so consumers get the canonical VZNL_Types.h include path.
+if(NOT TARGET VrCommon)
+    add_library(VrCommon INTERFACE)
+    target_include_directories(VrCommon INTERFACE
+        ${CMAKE_CURRENT_SOURCE_DIR}/VrCommon/Inc
+    )
+endif()
+
+if(WOODCAM_BUILD_CLOUDVIEW3D)
+    add_subdirectory(CloudView3D)
+endif()
+
+if(WOODCAM_BUILD_CLOUDUTILS)
+    add_subdirectory(CloudUtils)
+endif()

CloudUtils/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.14)
+
+find_package(Qt5 REQUIRED COMPONENTS Core Gui)
+
+if(NOT TARGET VrCommon)
+    add_library(VrCommon INTERFACE)
+    target_include_directories(VrCommon INTERFACE
+        ${CMAKE_CURRENT_SOURCE_DIR}/../VrCommon/Inc
+    )
+endif()
+
+if(NOT TARGET VrUtils)
+    add_subdirectory(
+        "${CMAKE_CURRENT_SOURCE_DIR}/../VrUtils"
+        "${CMAKE_CURRENT_BINARY_DIR}/VrUtils"
+    )
+endif()
+
+add_library(CloudUtils STATIC
+    Src/LaserDataLoader.cpp
+    Src/PointCloudImageUtils.cpp
+    Inc/LaserDataLoader.h
+    Inc/PointCloudImageUtils.h
+)
+
+set_target_properties(CloudUtils PROPERTIES
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
+)
+
+target_include_directories(CloudUtils PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/Inc
+)
+
+# When CamTool is built with WoodSDK, use its VZ compatibility types first.
+# This keeps LaserDataLoader's SVzNL* signatures identical to the application
+# translation units, where WoodSDK maps them to the public SWD* structures.
+if(TARGET WoodSDK)
+    target_include_directories(CloudUtils BEFORE PUBLIC
+        "${CMAKE_CURRENT_SOURCE_DIR}/../../App/woodcam-sdk/WoodSDK/VzToWDInc"
+    )
+endif()
+
+target_link_libraries(CloudUtils
+    PUBLIC
+        VrCommon
+        Qt5::Core
+        Qt5::Gui
+    PRIVATE
+        VrUtils
+)
+
+if(MSVC)
+    target_compile_options(CloudUtils PRIVATE /utf-8)
+endif()

CloudView3D/CMakeLists.txt

@@ -0,0 +1,43 @@
+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_compile_options(CloudView3D PRIVATE /utf-8)
+    target_link_libraries(CloudView3D PUBLIC opengl32 glu32)
+elseif(UNIX AND NOT APPLE)
+    target_link_libraries(CloudView3D PUBLIC GL GLU)
+endif()

CloudView3D/CloudView3D.pro

@@ -11,8 +11,8 @@ win32-msvc {
 
 INCLUDEPATH += $$PWD/Inc
 INCLUDEPATH += $$PWD/../VrUtils/Inc
-INCLUDEPATH += $$PWD/../../Device/SDK/VzNLSDK/Inc
 INCLUDEPATH += $$PWD/../VrCommon/Inc
+# VZNL_Types.h is maintained in the shared Utils module.
 
 HEADERS += \
     Inc/CloudView3D.h \

CloudView3D/Inc/CloudView3DTypes.h

@@ -7,14 +7,14 @@
 
 struct Point3D
 {
-    float x, y, z;
+    float x, y, z; // millimetres
     Point3D() : x(0), y(0), z(0) {}
     Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
 };
 
 struct Point3DRGB
 {
-    float x, y, z;
+    float x, y, z; // millimetres
     uint8_t r, g, b;
     float pointSize;
 

CloudView3D/Inc/PointCloudGLWidget.h

@@ -8,6 +8,7 @@
 #include <QMatrix4x4>
 #include <QVector3D>
 #include <QQuaternion>
+#include <QKeyEvent>
 #include <QMouseEvent>
 #include <QWheelEvent>
 #include <QResizeEvent>
@@ -21,6 +22,7 @@ class QToolButton;
 class QPushButton;
 class QPinchGesture;
 class QResizeEvent;
+class QTimer;
 
 /**
  * @brief 点云显示颜色枚举
@@ -185,10 +187,30 @@ public:
     void addPointCloud(const PointCloudXYZ& cloud, const QString& name = "", bool resetView = true);
     void addPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "", bool resetView = true);
     /** 删除最早添加的一组点云，用于维护滚动显示窗口。 */
-    bool removeOldestPointCloud();
+    bool removeOldestPointCloud(bool refreshDisplay = true);
     /** 删除最近添加的一组点云，用于回滚未完成的增量加载。 */
-    bool removeNewestPointCloud();
+    bool removeNewestPointCloud(bool refreshDisplay = true);
     void clearPointClouds();
+
+    /** 配置流式点云刷新频率；CamTool 使用 30 Hz。 */
+    void setStreamRefreshRate(int refreshRateHz);
+    int streamRefreshRate() const
+    {
+        return m_streamRefreshRate;
+    }
+    /** 配置流式点云最多保留的源扫描线数。 */
+    void setStreamLineLimit(int maxLines);
+    int streamLineLimit() const
+    {
+        return m_streamLineLimit;
+    }
+    void startStreamRefresh();
+    void stopStreamRefresh(bool flushPending = true);
+    /** 缓存一批本地线号从 0 开始的扫描线，下一次刷新时统一提交。 */
+    void queuePointCloudBatch(PointCloudXYZ cloud, int sourceLineCount, const QString& name = QString());
+    void flushPointCloudBatches();
+    void clearPointCloudBatches();
+
     void setPointCloudColor(PointCloudColor color);
     void setPointSize(float size);
 
@@ -393,6 +415,8 @@ signals:
                              float dz);
     void lineSelected(const SelectedLineInfo& line);
     void viewAnglesChanged(float rotX, float rotY, float rotZ);
+    /** 30 Hz 刷新边界；数据源应在该信号处理中批量填充缓存。 */
+    void streamRefreshRequested();
 
 protected:
     bool event(QEvent* event) override;
@@ -408,6 +432,13 @@ protected:
     void resizeEvent(QResizeEvent* event) override;
 
 private:
+    struct QueuedPointCloudBatch
+    {
+        PointCloudXYZ cloud;
+        QString name;
+        int sourceLineCount;
+    };
+
     struct PointCloudData
     {
         std::vector<float> vertices;
@@ -422,6 +453,8 @@ private:
         int colorIndex;  // 点云颜色索引
         int totalLines;  // 总线数
         int pointsPerLine; // 每线点数（网格化点云）
+        bool streamBatch;
+        int sourceLineCount;
 
         // 自定义点大小分组（RGBA 中 A > 1 的点按大小分组）
         struct PointSizeGroup {
@@ -435,14 +468,19 @@ private:
         QOpenGLBuffer vertexBuffer;  // 顶点 VBO
         QOpenGLBuffer colorBuffer;   // 颜色 VBO
         bool vboCreated;             // VBO 是否已创建
+        QVector3D minBound;
+        QVector3D maxBound;
+        bool hasBounds;
 
         PointCloudData()
             : hasColor(false), pseudoColor(false), hasLineInfo(false), colorIndex(0)
             , totalLines(0), pointsPerLine(0)
+            , streamBatch(false), sourceLineCount(0)
             , hasCustomPointSizes(false)
             , vertexBuffer(QOpenGLBuffer::VertexBuffer)
             , colorBuffer(QOpenGLBuffer::VertexBuffer)
             , vboCreated(false)
+            , hasBounds(false)
         {}
 
         // 移动构造函数（QOpenGLBuffer 不支持拷贝）
@@ -459,11 +497,16 @@ private:
             , colorIndex(other.colorIndex)
             , totalLines(other.totalLines)
             , pointsPerLine(other.pointsPerLine)
+            , streamBatch(other.streamBatch)
+            , sourceLineCount(other.sourceLineCount)
             , customPointSizeGroups(std::move(other.customPointSizeGroups))
             , hasCustomPointSizes(other.hasCustomPointSizes)
             , vertexBuffer(QOpenGLBuffer::VertexBuffer)
             , colorBuffer(QOpenGLBuffer::VertexBuffer)
             , vboCreated(false)
+            , minBound(other.minBound)
+            , maxBound(other.maxBound)
+            , hasBounds(other.hasBounds)
         {
             // VBO 需要在 GL 上下文中重建，标记为未创建
             other.vboCreated = false;
@@ -490,8 +533,13 @@ private:
                 colorIndex = other.colorIndex;
                 totalLines = other.totalLines;
                 pointsPerLine = other.pointsPerLine;
+                streamBatch = other.streamBatch;
+                sourceLineCount = other.sourceLineCount;
                 customPointSizeGroups = std::move(other.customPointSizeGroups);
                 hasCustomPointSizes = other.hasCustomPointSizes;
+                minBound = other.minBound;
+                maxBound = other.maxBound;
+                hasBounds = other.hasBounds;
                 // VBO 需要重建
                 other.vboCreated = false;
             }
@@ -507,6 +555,8 @@ private:
     void updateProjection(const QMatrix4x4& modelView);
     float fittedCameraDistance(float padding = 1.05f) const;
     float minimumCameraDistance() const;
+    /** 按当前缩放把点大小从逻辑像素换到实际绘制像素，避免放大后点散成看不见的碎点。 */
+    float effectivePointSize() const;
     QVector3D colorForIndex(int colorIndex) const;
     SelectedPointInfo pickPoint(int screenX, int screenY);
     void drawSelectedPoints();
@@ -519,15 +569,26 @@ private:
     void drawBasicShapeSegments(); // 绘制基础图形
     void drawBasicShapePoints();
     void drawLineSegmentList(const QVector<LineSegment>& segments);
+
     void drawPosePoints();       // 绘制姿态点
     void drawAxisLabels();       // 绘制坐标轴 XYZ 标注
+    void drawSelectionInfoOverlay(); // 右上角显示选点和测量结果
     QVector3D pseudoColorForZ(float z) const;
     void rebuildPseudoColors(PointCloudData& data, size_t firstVertex);
     void updatePseudoColors();
     void createControlButtons();
     void updateControlButtonGeometry();
+
     void uploadToVBO(PointCloudData& data);    // 上传数据到 VBO
     void releaseVBO(PointCloudData& data);     // 释放 VBO 资源
+    void expandCloudBounds(PointCloudData& data, float x, float y, float z);
+    void addPointCloudInternal(const PointCloudXYZ& cloud, const QString& name, bool resetViewAfterAdd, bool refreshDisplay);
+    void trimQueuedPointCloudBatches();
+    void trimDisplayedStreamBatches(bool refreshDisplay);
+    bool removeOldestStreamPointCloud(bool refreshDisplay);
+    void discardLeadingLines(QueuedPointCloudBatch& batch, int lineCount);
+    void discardLeadingStreamLines(PointCloudData& data, int lineCount);
+    void recomputeCloudBounds(PointCloudData& data);
 
     std::deque<PointCloudData> m_pointClouds;
 
@@ -625,6 +686,14 @@ private:
     
     QToolButton* m_zoomInButton;
     QToolButton* m_zoomOutButton;
+
+    // 高速输入先进入 CPU 有界缓存，再由 GUI 线程按固定频率批量提交 OpenGL。
+    QTimer* m_streamRefreshTimer;
+    std::deque<QueuedPointCloudBatch> m_queuedPointCloudBatches;
+    int m_queuedPointCloudLineCount;
+    int m_streamDisplayedLineCount;
+    int m_streamRefreshRate;
+    int m_streamLineLimit;
 };
 
 #endif // POINT_CLOUD_GL_WIDGET_H

CloudViewApp/Inc/CloudViewMainWindow.h

@@ -86,6 +86,7 @@ private:
     void buildStartupSequence(const StartupFiles& files);
     bool loadStartupItem(const StartupItem& item);
     bool loadCurrentStartupSequenceItem();
+    void updateZoomButtonGeometry();
 
 private slots:
     /**

CloudViewApp/Src/CloudViewMainWindow.cpp

@@ -1249,19 +1249,35 @@ bool CloudViewMainWindow::eventFilter(QObject* obj, QEvent* event)
 {
     if (obj == m_glWidget && event->type() == QEvent::Resize &&
         m_btnZoomIn && m_btnZoomOut) {
-        const auto* resizeEvent = static_cast<QResizeEvent*>(event);
-        const int width = resizeEvent->size().width();
-        const int height = resizeEvent->size().height();
+        updateZoomButtonGeometry();
+    }
+    return QMainWindow::eventFilter(obj, event);
+}
+
+void CloudViewMainWindow::updateZoomButtonGeometry()
+{
+    if (!m_glWidget || !m_btnZoomIn || !m_btnZoomOut)
+    {
+        return;
+    }
+
+    const int widgetWidth = m_glWidget->width();
+    const int widgetHeight = m_glWidget->height();
+    if (widgetWidth <= 0 || widgetHeight <= 0)
+    {
+        return;
+    }
+
     const int buttonWidth = m_btnZoomIn->width();
     const int buttonHeight = m_btnZoomIn->height();
     const int margin = 8;
     const int gap = 4;
-        const int x = width - buttonWidth - margin;
-        const int y = qMax(0, (height - buttonHeight * 2 - gap) / 2);
+    const int x = qMax(0, widgetWidth - buttonWidth - margin);
+    const int y = qMax(0, (widgetHeight - buttonHeight * 2 - gap) / 2);
     m_btnZoomIn->move(x, y);
     m_btnZoomOut->move(x, y + buttonHeight + gap);
-    }
-    return QMainWindow::eventFilter(obj, event);
+    m_btnZoomIn->raise();
+    m_btnZoomOut->raise();
 }
 
 void CloudViewMainWindow::closeEvent(QCloseEvent* event)
@@ -1420,6 +1436,8 @@ QWidget* CloudViewMainWindow::createViewerArea()
     connect(m_btnZoomOut, &QToolButton::clicked, m_glWidget, &PointCloudGLWidget::zoomOut);
 
     m_glWidget->installEventFilter(this);
+    // 初始创建时可能没有收到 resize 事件，立即将按钮放到视口右侧居中。
+    updateZoomButtonGeometry();
 
     // 连接信号
     connect(m_glWidget, &PointCloudGLWidget::pointSelected, this, &CloudViewMainWindow::onPointSelected);

VrUtils/CMakeLists.txt

@@ -1,34 +1,112 @@
-ADD_DEFINITIONS(-D__OPENVMS__)	#log4cpp 编译选项
-if(NOT WIN32)
-    ADD_DEFINITIONS(-DLOG4CPP_HAVE_GETTIMEOFDAY)	#ARM/Linux 上直接启用 gettimeofday，确保毫秒正确
-endif()
-ADD_DEFINITIONS(-DVR_UTILS_EXPORTS)	#VrUtils 导出宏定义
-# ADD_COMPILE_OPTIONS(-Wno-deprecated-declarations)	#auto_ptr警告消除
+cmake_minimum_required(VERSION 3.14)
 
-# 设置CMake策略，允许AUTOMOC和AUTOUIC处理.hh文件
-# cmake_policy(SET CMP0100 NEW)
-
-INCLUDE_DIRECTORIES(
-	./_Inc
-	./Inc
-	./MD5
-	./tinyxml2
-	./log4cpp/include
+# Keep this source list aligned with VrUtils.pro. Do not glob Src/: it contains
+# legacy standalone sources such as getopt.c that are not part of VrUtils.
+set(VRUTILS_SOURCES
+    Src/VrDateUtils.cpp
+    Src/VrFileUtils.cpp
+    Src/VrLog.cpp
+    Src/VrNetUtils.cpp
+    Src/VrStringUtils.cpp
+    Src/VrTimeUtils.cpp
+    ini/ConvertUTF.c
+    log4cpp/src/AbortAppender.cpp
+    log4cpp/src/Appender.cpp
+    log4cpp/src/AppenderSkeleton.cpp
+    log4cpp/src/AppendersFactory.cpp
+    log4cpp/src/BasicConfigurator.cpp
+    log4cpp/src/BasicLayout.cpp
+    log4cpp/src/BufferingAppender.cpp
+    log4cpp/src/Category.cpp
+    log4cpp/src/CategoryStream.cpp
+    log4cpp/src/Configurator.cpp
+    log4cpp/src/DailyRollingFileAppender.cpp
+    log4cpp/src/DllMain.cpp
+    log4cpp/src/DummyThreads.cpp
+    log4cpp/src/FactoryParams.cpp
+    log4cpp/src/FileAppender.cpp
+    log4cpp/src/Filter.cpp
+    log4cpp/src/FixedContextCategory.cpp
+    log4cpp/src/HierarchyMaintainer.cpp
+    log4cpp/src/IdsaAppender.cpp
+    log4cpp/src/LayoutAppender.cpp
+    log4cpp/src/LayoutsFactory.cpp
+    log4cpp/src/LevelEvaluator.cpp
+    log4cpp/src/Localtime.cpp
+    log4cpp/src/LoggingEvent.cpp
+    log4cpp/src/MSThreads.cpp
+    log4cpp/src/Manipulator.cpp
+    log4cpp/src/NDC.cpp
+    log4cpp/src/NTEventLogAppender.cpp
+    log4cpp/src/OmniThreads.cpp
+    log4cpp/src/OstreamAppender.cpp
+    log4cpp/src/PThreads.cpp
+    log4cpp/src/PassThroughLayout.cpp
+    log4cpp/src/PatternLayout.cpp
+    log4cpp/src/PortabilityImpl.cpp
+    log4cpp/src/Priority.cpp
+    log4cpp/src/Properties.cpp
+    log4cpp/src/PropertyConfigurator.cpp
+    log4cpp/src/PropertyConfiguratorImpl.cpp
+    log4cpp/src/RemoteSyslogAppender.cpp
+    log4cpp/src/RollingFileAppender.cpp
+    log4cpp/src/SimpleConfigurator.cpp
+    log4cpp/src/SimpleLayout.cpp
+    log4cpp/src/SmtpAppender.cpp
+    log4cpp/src/StringQueueAppender.cpp
+    log4cpp/src/StringUtil.cpp
+    log4cpp/src/SyslogAppender.cpp
+    log4cpp/src/TimeStamp.cpp
+    log4cpp/src/TriggeringEventEvaluatorFactory.cpp
+    log4cpp/src/Win32DebugAppender.cpp
+    log4cpp/src/snprintf.c
+    tinyxml2/tinyxml2.cpp
+    jsoncpp/json_reader.cpp
+    jsoncpp/json_value.cpp
+    jsoncpp/json_writer.cpp
 )
 
-AUX_SOURCE_DIRECTORY(./Src 			SrcS)
-AUX_SOURCE_DIRECTORY(./MD5 			MD5SrcS)
-AUX_SOURCE_DIRECTORY(./tinyxml2 	TinyxmlSrcS)
-AUX_SOURCE_DIRECTORY(./log4cpp/src 	LogSrcS)
+add_library(VrUtils STATIC ${VRUTILS_SOURCES})
 
-# 对特定的.hh文件设置SKIP_AUTOGEN属性
-set_property(SOURCE log4cpp/src/StringUtil.hh PROPERTY SKIP_AUTOGEN ON)
-set_property(SOURCE log4cpp/src/PortabilityImpl.hh PROPERTY SKIP_AUTOGEN ON)
-set_property(SOURCE log4cpp/src/Properties.hh PROPERTY SKIP_AUTOGEN ON)
-set_property(SOURCE log4cpp/src/Localtime.hh PROPERTY SKIP_AUTOGEN ON)
-set_property(SOURCE log4cpp/src/PropertyConfiguratorImpl.hh PROPERTY SKIP_AUTOGEN ON)
+set_target_properties(VrUtils PROPERTIES
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
+)
 
-ADD_LIBRARY(VrUtils STATIC ${SrcS} ${MD5SrcS} 
-					${TinyxmlSrcS} 
-					${LogSrcS}
-					)
+target_include_directories(VrUtils
+    PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/Inc
+    PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/ini
+        ${CMAKE_CURRENT_SOURCE_DIR}/tinyxml2
+        ${CMAKE_CURRENT_SOURCE_DIR}/jsoncpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/log4cpp/include
+        ${CMAKE_CURRENT_SOURCE_DIR}/log4cpp/src
+)
+
+target_compile_definitions(VrUtils PRIVATE
+    TINYXML2_EXPORT
+    HAVE_SNPRINTF
+    LOG4CPP_HAVE_SSTREAM=1
+    VR_UTILS_EXPORTS
+)
+
+if(UNIX AND NOT APPLE)
+    target_compile_definitions(VrUtils PRIVATE LOG4CPP_HAVE_UNISTD_H)
+    set_target_properties(VrUtils PROPERTIES POSITION_INDEPENDENT_CODE ON)
+endif()
+
+find_package(Threads REQUIRED)
+target_link_libraries(VrUtils PUBLIC Threads::Threads)
+
+if(WIN32)
+    # qmake's Windows mkspec supplies these definitions. log4cpp uses the
+    # generic Win32 API names and therefore must see the same character mode.
+    target_compile_definitions(VrUtils PRIVATE UNICODE _UNICODE)
+    target_link_libraries(VrUtils PUBLIC ws2_32 iphlpapi advapi32 shell32)
+endif()
+
+if(MSVC)
+    target_compile_definitions(VrUtils PRIVATE _HAS_AUTO_PTR_ETC=1)
+    target_compile_options(VrUtils PRIVATE /utf-8)
+endif()