增加点的大小

CloudUtils/Inc/LaserDataLoader.h

@@ -54,6 +54,11 @@ public:
                           std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                           size_t* validPointCount = nullptr);
 
+    // 从文件加载Poly折线数据（带颜色）
+    // polyLines: 每条折线的点坐标列表，polyLines[i] 是第i条折线的所有点（含RGB颜色）
+    int LoadPolySegments(const std::string& fileName,
+                         std::vector<std::vector<SVzNLPointXYZRGBA>>& polyLines);
+
     // 获取最后的错误信息
     std::string GetLastError() const { return m_lastError; }
 

CloudUtils/Src/LaserDataLoader.cpp

@@ -102,6 +102,21 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
             nLaserPointIdx = 0;
             bFindLineNum = false;
 
+        } else if (line.find("Poly_") == 0) {
+            // 跳过 Poly 折线头及后续点坐标数据
+            size_t lastUnderscore = line.rfind('_');
+            int polyNum = 0;
+            if (lastUnderscore != std::string::npos && lastUnderscore + 1 < line.size()) {
+                polyNum = std::atoi(line.c_str() + lastUnderscore + 1);
+            }
+            for (int skip = 0; skip < polyNum; ) {
+                if (!std::getline(inputFile, line)) break;
+                TrimCarriageReturn(line);
+                if (!line.empty()) {
+                    ++skip;
+                }
+            }
+
         } else if (line.find("{") == 0) {
             // 使用正则表达式判断是XYZ还是RGBD格式
             // XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY}
@@ -278,6 +293,144 @@ int LaserDataLoader::DebugSaveLaser(std::string fileName, std::vector<std::vecto
     }
 }
 
+int LaserDataLoader::LoadPolySegments(const std::string& fileName,
+                                      std::vector<std::vector<SVzNLPointXYZRGBA>>& polyLines)
+{
+    LOG_INFO("Loading poly segments from file: %s\n", fileName.c_str());
+
+    polyLines.clear();
+
+    std::ifstream inputFile(fileName);
+    if (!inputFile.is_open()) {
+        m_lastError = "Cannot open file: " + fileName;
+        LOG_ERROR("Cannot open file: %s\n", fileName.c_str());
+        return ERR_CODE(FILE_ERR_NOEXIST);
+    }
+
+    std::string line;
+
+    while (std::getline(inputFile, line)) {
+        TrimCarriageReturn(line);
+
+        // 跳过空行和注释
+        if (line.empty() || line[0] == '#') {
+            continue;
+        }
+
+        // 查找 Poly_index_num 头
+        if (line.find("Poly_") != 0) {
+            continue;
+        }
+
+        // 解析点数量（最后一个下划线后的数字）
+        size_t lastUnderscore = line.rfind('_');
+        if (lastUnderscore == std::string::npos || lastUnderscore + 1 >= line.size()) {
+            LOG_WARN("[LaserDataLoader] Invalid Poly header: %s\n", line.c_str());
+            continue;
+        }
+
+        int num = std::atoi(line.c_str() + lastUnderscore + 1);
+        if (num < 2) {
+            LOG_WARN("[LaserDataLoader] Invalid point count in Poly header: %s\n", line.c_str());
+            continue;
+        }
+
+        // 读取 num 个点坐标
+        std::vector<SVzNLPointXYZRGBA> points;
+        for (int i = 0; i < num; ) {
+            if (!std::getline(inputFile, line)) break;
+            TrimCarriageReturn(line);
+            if (line.empty()) {
+                continue;  // 跳过空行，不计数
+            }
+
+            SVzNLPointXYZRGBA pt;
+            memset(&pt, 0, sizeof(pt));
+            pt.nRGB = 0x00FFFFFF;  // 默认白色
+            bool parsed = false;
+
+            // 尝试花括号格式
+            if (line.find('{') != std::string::npos) {
+                float fx, fy, fz;
+                int R = 255, G = 255, B = 255, A = 255;
+
+                // 新RGBD格式: {x,y,z}-{lx,ly}-{rx,ry}-{R,G,B,A}
+                int cnt = sscanf(line.c_str(),
+                    " { %f , %f , %f } - { %*f , %*f } - { %*f , %*f } - { %d , %d , %d , %d }",
+                    &fx, &fy, &fz, &R, &G, &B, &A);
+                if (cnt >= 3) {
+                    pt.x = fx;
+                    pt.y = fy;
+                    pt.z = fz;
+                    if (cnt >= 7) {
+                        // 解析到了颜色 R,G,B,A（0-255），Alpha 存储在高 8 位
+                        unsigned int nRGB = static_cast<unsigned int>(A) << 24;
+                        nRGB |= static_cast<unsigned int>(B) << 16;
+                        nRGB |= static_cast<unsigned int>(G) << 8;
+                        nRGB |= static_cast<unsigned int>(R);
+                        pt.nRGB = nRGB;
+                    }
+                    parsed = true;
+                }
+
+                // 旧RGBD格式: {x,y,z,r,g,b}-{lx,ly}-{rx,ry}
+                if (!parsed) {
+                    float r, g, b;
+                    if (sscanf(line.c_str(), " { %f , %f , %f , %f , %f , %f }",
+                               &fx, &fy, &fz, &r, &g, &b) == 6) {
+                        pt.x = fx;
+                        pt.y = fy;
+                        pt.z = fz;
+                        int nRGB = (int)(b * 255); nRGB <<= 8;
+                        nRGB += (int)(g * 255); nRGB <<= 8;
+                        nRGB += (int)(r * 255);
+                        pt.nRGB = nRGB;
+                        parsed = true;
+                    }
+                }
+
+                // XYZ格式: {x,y,z}-{...}-{...}
+                if (!parsed) {
+                    if (sscanf(line.c_str(), " { %f , %f , %f }", &fx, &fy, &fz) == 3) {
+                        pt.x = fx;
+                        pt.y = fy;
+                        pt.z = fz;
+                        parsed = true;
+                    }
+                }
+            }
+
+            // 尝试纯数字格式: x y z（空格/Tab/逗号分隔）
+            if (!parsed) {
+                float fx, fy, fz;
+                std::string lineCopy = line;
+                for (char& c : lineCopy) {
+                    if (c == ',' || c == '\t') c = ' ';
+                }
+                if (sscanf(lineCopy.c_str(), "%f %f %f", &fx, &fy, &fz) == 3) {
+                    pt.x = fx;
+                    pt.y = fy;
+                    pt.z = fz;
+                    parsed = true;
+                }
+            }
+
+            if (parsed) {
+                points.push_back(pt);
+            }
+            ++i;
+        }
+
+        if (points.size() >= 2) {
+            polyLines.push_back(std::move(points));
+        }
+    }
+
+    inputFile.close();
+    LOG_INFO("Loaded %zu poly lines from file: %s\n", polyLines.size(), fileName.c_str());
+    return SUCCESS;
+}
+
 void LaserDataLoader::FreeLaserScanData(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines)
 {
     LOG_DEBUG("Freeing unified laser scan data, line count: %zu\n", laserLines.size());
@@ -487,10 +640,38 @@ int LaserDataLoader::_ParseLaserScanPoint(const std::string& data, SVzNL3DPositi
 int LaserDataLoader::_ParseLaserScanPoint(const std::string& data, SVzNLPointXYZRGBA& sData, SVzNL2DLRPoint& s2DData)
 {
     float X, Y, Z;
-    float r, g, b;
     float leftX, leftY;
     float rightX, rightY;
-    sscanf(data.c_str(), "{%f,%f,%f,%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY);
+
+    // 尝试新格式: {x,y,z}-{lx,ly}-{rx,ry}-{R,G,B,A}
+    int R, G, B, A;
+    int parsed = sscanf(data.c_str(),
+        " { %f , %f , %f } - { %f , %f } - { %f , %f } - { %d , %d , %d , %d }",
+        &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY, &R, &G, &B, &A);
+    if (parsed >= 11) {
+        sData.x = X;
+        sData.y = Y;
+        sData.z = Z;
+
+        // R,G,B,A 是 0-255 整数值，Alpha 存储在高 8 位
+        unsigned int nRGB = static_cast<unsigned int>(A) << 24;
+        nRGB |= static_cast<unsigned int>(B) << 16;
+        nRGB |= static_cast<unsigned int>(G) << 8;
+        nRGB |= static_cast<unsigned int>(R);
+        sData.nRGB = nRGB;
+
+        s2DData.sLeft.x = leftX;
+        s2DData.sLeft.y = leftY;
+        s2DData.sRight.x = rightX;
+        s2DData.sRight.y = rightY;
+        return SUCCESS;
+    }
+
+    // 旧格式: {x,y,z,r,g,b}-{lx,ly}-{rx,ry}  r,g,b 为 0~1 浮点值
+    float r, g, b;
+    sscanf(data.c_str(),
+        " { %f , %f , %f , %f , %f , %f } - { %f , %f } - { %f , %f }",
+        &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY);
     sData.x = X;
     sData.y = Y;
     sData.z = Z;
@@ -524,26 +705,37 @@ int LaserDataLoader::_GetLaserType(const std::string& fileName, EVzResultDataTyp
 
     bool bFind = false;
     while (std::getline(inputFile, linedata)) {
-        // 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符）
         TrimCarriageReturn(linedata);
 
         if (linedata.find("{") == 0) {
-            // 修复正则表达式以匹配实际数据格式
+            // 统计 { 的数量判断格式
-            // XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY}
+            int braceCount = 0;
-            // RGBD格式: {x,y,z,r,g,b}-{leftX,leftY}-{rightX,rightY}
+            for (char c : linedata) {
-            // 更宽松的正则表达式，允许更多的空格变化
+                if (c == '{') braceCount++;
-            std::regex xyzPattern(R"(\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\})");
+            }
-            std::regex rgbdPattern(R"(\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\})");
 
-            // 先尝试匹配RGBD格式（6个数字）
+            if (braceCount == 4) {
-            if (std::regex_match(linedata, rgbdPattern)) {
+                // 新RGBD格式: {x,y,z}-{lx,ly}-{rx,ry}-{R,G,B,A}
                 eDataType = keResultDataType_PointXYZRGBA;
                 bFind = true;
-            } 
+            } else if (braceCount == 3) {
-            // 再尝试匹配XYZ格式（3个数字）
+                // 检查第一组的逗号数量区分XYZ和旧RGBD
-            else if (std::regex_match(linedata, xyzPattern)) {
+                size_t firstClose = linedata.find('}');
-                eDataType = keResultDataType_Position;
+                if (firstClose != std::string::npos) {
-                bFind = true;
+                    int commaCount = 0;
+                    for (size_t i = 0; i < firstClose; ++i) {
+                        if (linedata[i] == ',') commaCount++;
+                    }
+                    if (commaCount >= 5) {
+                        // 旧RGBD格式: {x,y,z,r,g,b}-{lx,ly}-{rx,ry}
+                        eDataType = keResultDataType_PointXYZRGBA;
+                        bFind = true;
+                    } else if (commaCount >= 2) {
+                        // XYZ格式: {x,y,z}-{lx,ly}-{rx,ry}
+                        eDataType = keResultDataType_Position;
+                        bFind = true;
+                    }
+                }
             }
             break;
         }

CloudView/Inc/CloudViewMainWindow.h

@@ -44,11 +44,6 @@ private slots:
      */
     void onOpenFile();
 
-    /**
-     * @brief 打开线段文件
-     */
-    void onOpenSegmentFile();
-
     /**
      * @brief 打开姿态点文件
      */
@@ -225,6 +220,18 @@ private:
      */
     void updateLinePointsDialog();
 
+    /**
+     * @brief 加载点云文件
+     * @return 是否成功加载到点云数据
+     */
+    bool loadPointCloudFile(const QString& fileName);
+
+    /**
+     * @brief 加载线段文件（Poly格式）
+     * @return 是否成功加载到线段数据
+     */
+    bool loadSegmentFile(const QString& fileName);
+
     // 点云显示控件
     PointCloudGLWidget* m_glWidget;
 
@@ -233,7 +240,6 @@ private:
 
     // 文件操作控件
     QPushButton* m_btnOpenFile;
-    QPushButton* m_btnOpenSegment;
     QPushButton* m_btnOpenPose;
     QPushButton* m_btnClearAll;
 

CloudView/Inc/PointCloudConverter.h

@@ -22,9 +22,10 @@ struct Point3DRGB
 {
     float x, y, z;
     uint8_t r, g, b;
-    Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255) {}
+    float pointSize;  // 自定义点大小，0 表示使用全局默认值（来自 RGBA 中 A > 1 的值）
-    Point3DRGB(float _x, float _y, float _z, uint8_t _r = 255, uint8_t _g = 255, uint8_t _b = 255)
+    Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255), pointSize(0) {}
-        : x(_x), y(_y), z(_z), r(_r), g(_g), b(_b) {}
+    Point3DRGB(float _x, float _y, float _z, uint8_t _r = 255, uint8_t _g = 255, uint8_t _b = 255, float _ps = 0)
+        : x(_x), y(_y), z(_z), r(_r), g(_g), b(_b), pointSize(_ps) {}
 };
 
 /**

CloudView/Inc/PointCloudGLWidget.h

@@ -87,10 +87,11 @@ struct LineSegment
     float x1, y1, z1;  // 起点
     float x2, y2, z2;  // 终点
     float r, g, b;     // 颜色 (0-1)
+    float lineWidth;   // 线宽，0 表示使用默认值（来自 RGBA 中 A > 1 的值）
 
-    LineSegment() : x1(0), y1(0), z1(0), x2(0), y2(0), z2(0), r(1), g(1), b(1) {}
+    LineSegment() : x1(0), y1(0), z1(0), x2(0), y2(0), z2(0), r(1), g(1), b(1), lineWidth(0) {}
-    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)
+    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, float _lw = 0)
-        : x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b) {}
+        : x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b), lineWidth(_lw) {}
 };
 
 /**
@@ -272,6 +273,14 @@ private:
         int totalLines;  // 总线数
         int pointsPerLine; // 每线点数（网格化点云）
 
+        // 自定义点大小分组（RGBA 中 A > 1 的点按大小分组）
+        struct PointSizeGroup {
+            float pointSize;              // 点大小
+            std::vector<size_t> indices;  // 该大小的点在顶点数组中的索引（顶点索引 = indices[i] * 3）
+        };
+        std::vector<PointSizeGroup> customPointSizeGroups;
+        bool hasCustomPointSizes;
+
         // VBO 缓冲区
         QOpenGLBuffer vertexBuffer;  // 顶点 VBO
         QOpenGLBuffer colorBuffer;   // 颜色 VBO
@@ -280,6 +289,7 @@ private:
         PointCloudData()
             : hasColor(false), hasLineInfo(false), colorIndex(0)
             , totalLines(0), pointsPerLine(0)
+            , hasCustomPointSizes(false)
             , vertexBuffer(QOpenGLBuffer::VertexBuffer)
             , colorBuffer(QOpenGLBuffer::VertexBuffer)
             , vboCreated(false)
@@ -297,6 +307,8 @@ private:
             , colorIndex(other.colorIndex)
             , totalLines(other.totalLines)
             , pointsPerLine(other.pointsPerLine)
+            , customPointSizeGroups(std::move(other.customPointSizeGroups))
+            , hasCustomPointSizes(other.hasCustomPointSizes)
             , vertexBuffer(QOpenGLBuffer::VertexBuffer)
             , colorBuffer(QOpenGLBuffer::VertexBuffer)
             , vboCreated(false)
@@ -324,6 +336,8 @@ private:
                 colorIndex = other.colorIndex;
                 totalLines = other.totalLines;
                 pointsPerLine = other.pointsPerLine;
+                customPointSizeGroups = std::move(other.customPointSizeGroups);
+                hasCustomPointSizes = other.hasCustomPointSizes;
                 // VBO 需要重建
                 other.vboCreated = false;
             }

CloudView/Src/CloudViewMainWindow.cpp

@@ -13,6 +13,7 @@
 #include <QGridLayout>
 #include <cmath>
 #include "VrLog.h"
+#include "LaserDataLoader.h"
 
 CloudViewMainWindow::CloudViewMainWindow(QWidget* parent)
     : QMainWindow(parent)
@@ -125,18 +126,12 @@ QGroupBox* CloudViewMainWindow::createFileGroup()
     layout->setSpacing(3);
     layout->setContentsMargins(5, 5, 5, 5);
 
-    m_btnOpenFile = new QPushButton("打开点云", group);
+    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_btnOpenSegment = new QPushButton("打开线段 {x,y,z}-{x,y,z}", group);
-    m_btnOpenSegment->setMinimumHeight(24);
-    m_btnOpenSegment->setMaximumHeight(24);
-    connect(m_btnOpenSegment, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenSegmentFile);
-    layout->addWidget(m_btnOpenSegment);
-
     m_btnOpenPose = new QPushButton("打开姿态点 {x,y,z}-{r,p,y}", group);
     m_btnOpenPose->setMinimumHeight(24);
     m_btnOpenPose->setMaximumHeight(24);
@@ -523,6 +518,7 @@ QGroupBox* CloudViewMainWindow::createLineGroup()
     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);
@@ -579,17 +575,42 @@ QGroupBox* CloudViewMainWindow::createCloudListGroup()
 
 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,
-        "打开点云文件",
+        "打开文件",
         QString(),
-        "点云文件 (*.pcd *.txt);;PCD 文件 (*.pcd);;TXT 文件 (*.txt);;所有文件 (*.*)"
+        "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);
@@ -601,9 +622,8 @@ void CloudViewMainWindow::onOpenFile()
     int result = m_converter->loadFromFile(fileName.toStdString(), rgbCloud);
 
     if (result != 0) {
-        QMessageBox::critical(this, "错误", QString("加载点云失败: %1").arg(QString::fromStdString(m_converter->getLastError())));
+        LOG_INFO("[CloudView] Load point cloud failed: %s\n", m_converter->getLastError().c_str());
-        statusBar()->showMessage("加载失败");
+        return false;
-        return;
     }
 
     // 保存原始完整点云 XYZ（用于旋转/线上点等功能）
@@ -632,11 +652,9 @@ void CloudViewMainWindow::onOpenFile()
     }
 
     if (hadColor) {
-        // 有颜色数据：使用 addPointCloud(PointCloudXYZRGB) 显示原始颜色
         m_glWidget->addPointCloud(rgbCloud, cloudName);
         LOG_INFO("[CloudView] Loaded with original color, points: %zu\n", rgbCloud.size());
     } else {
-        // 无颜色数据：使用 addPointCloud(PointCloudXYZ) 显示（颜色表轮换）
         m_glWidget->addPointCloud(m_originalCloud, cloudName);
         LOG_INFO("[CloudView] Loaded without color (color table), points: %zu\n", m_originalCloud.size());
     }
@@ -664,86 +682,63 @@ void CloudViewMainWindow::onOpenFile()
     m_cloudList->addItem(itemText);
 
     statusBar()->showMessage(QString("已加载 %1 个点%2").arg(m_converter->getLoadedPointCount()).arg(hadColor ? " (彩色)" : ""));
+    return true;
 }
 
-void CloudViewMainWindow::onOpenSegmentFile()
+bool CloudViewMainWindow::loadSegmentFile(const QString& fileName)
 {
-    QString fileName = QFileDialog::getOpenFileName(
-        this,
-        "打开线段文件",
-        QString(),
-        "文本文件 (*.txt);;所有文件 (*.*)"
-    );
-
-    if (fileName.isEmpty()) {
-        return;
-    }
-
     statusBar()->showMessage("正在加载线段...");
 
-    QFile file(fileName);
+    LaserDataLoader loader;
-    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    std::vector<std::vector<SVzNLPointXYZRGBA>> polyLines;
-        QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName));
+    int result = loader.LoadPolySegments(fileName.toStdString(), polyLines);
-        statusBar()->showMessage("加载失败");
+
-        return;
+    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;
-    QTextStream in(&file);
+    for (const auto& polyLine : polyLines) {
-    int lineNum = 0;
+        for (size_t i = 0; i + 1 < polyLine.size(); ++i) {
-    int validCount = 0;
+            const auto& p1 = polyLine[i];
-
+            const auto& p2 = polyLine[i + 1];
-    while (!in.atEnd()) {
+            // 取起点颜色作为线段颜色，nRGB 为 (A<<24)|BGR 打包格式
-        QString line = in.readLine().trimmed();
+            float r = ((p1.nRGB >> 0) & 0xFF) / 255.0f;
-        lineNum++;
+            float g = ((p1.nRGB >> 8) & 0xFF) / 255.0f;
-
+            float b = ((p1.nRGB >> 16) & 0xFF) / 255.0f;
-        // 跳过空行和注释
+            uint8_t a = static_cast<uint8_t>((p1.nRGB >> 24) & 0xFF);
-        if (line.isEmpty() || line.startsWith('#')) {
+            // A > 1 时作为线宽使用
-            continue;
+            float lineWidth = (a > 1) ? static_cast<float>(a) : 0.0f;
+            segments.append(LineSegment(
+                p1.x, p1.y, p1.z,
+                p2.x, p2.y, p2.z,
+                r, g, b, lineWidth));
         }
-
-        // 解析格式：{x,y,z}-{x,y,z}
-        QRegExp regex("\\{([^}]+)\\}-\\{([^}]+)\\}");
-        if (regex.indexIn(line) == -1) {
-            LOG_WARN("[CloudView] Line %d: Invalid format, expected {x,y,z}-{x,y,z}\n", lineNum);
-            continue;
-        }
-
-        QString point1Str = regex.cap(1);
-        QString point2Str = regex.cap(2);
-
-        QStringList p1 = point1Str.split(',');
-        QStringList p2 = point2Str.split(',');
-
-        if (p1.size() != 3 || p2.size() != 3) {
-            LOG_WARN("[CloudView] Line %d: Invalid point format\n", lineNum);
-            continue;
-        }
-
-        bool ok = true;
-        float x1 = p1[0].toFloat(&ok); if (!ok) continue;
-        float y1 = p1[1].toFloat(&ok); if (!ok) continue;
-        float z1 = p1[2].toFloat(&ok); if (!ok) continue;
-        float x2 = p2[0].toFloat(&ok); if (!ok) continue;
-        float y2 = p2[1].toFloat(&ok); if (!ok) continue;
-        float z2 = p2[2].toFloat(&ok); if (!ok) continue;
-
-        // 默认白色
-        segments.append(LineSegment(x1, y1, z1, x2, y2, z2, 1.0f, 1.0f, 1.0f));
-        validCount++;
     }
 
-    file.close();
-
     if (segments.isEmpty()) {
-        QMessageBox::warning(this, "警告", "文件中没有有效的线段数据");
+        return false;
-        statusBar()->showMessage("加载失败");
-        return;
     }
 
     m_glWidget->addLineSegments(segments);
-    statusBar()->showMessage(QString("已加载 %1 条线段").arg(validCount));
+
-    LOG_INFO("[CloudView] Loaded %d line segments from %s\n", validCount, fileName.toStdString().c_str());
+    // 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()
@@ -831,6 +826,8 @@ void CloudViewMainWindow::onOpenPoseFile()
 void CloudViewMainWindow::onClearAll()
 {
     m_glWidget->clearPointClouds();
+    m_glWidget->clearLineSegments();
+    m_glWidget->clearPosePoints();
     m_cloudList->clear();
     m_cloudCount = 0;
     m_currentLineNum = 0;

CloudView/Src/PointCloudConverter.cpp

@@ -137,12 +137,15 @@ int PointCloudConverter::loadFromTxt(const std::string& fileName, PointCloudXYZR
         for (const auto& line : rgbdData) {
             for (int i = 0; i < line.nPointCnt; ++i) {
                 const SVzNLPointXYZRGBA& pt = line.p3DPoint[i];
-                // 解包颜色：nRGB 格式为 (B << 16) | (G << 8) | R
+                // 解包颜色：nRGB 格式为 (A << 24) | (B << 16) | (G << 8) | R
                 uint8_t r = static_cast<uint8_t>(pt.nRGB & 0xFF);
                 uint8_t g = static_cast<uint8_t>((pt.nRGB >> 8) & 0xFF);
                 uint8_t b = static_cast<uint8_t>((pt.nRGB >> 16) & 0xFF);
+                uint8_t a = static_cast<uint8_t>((pt.nRGB >> 24) & 0xFF);
+                // A > 1 时作为点大小使用
+                float pointSize = (a > 1) ? static_cast<float>(a) : 0.0f;
 
-                Point3DRGB point(pt.x, pt.y, pt.z, r, g, b);
+                Point3DRGB point(pt.x, pt.y, pt.z, r, g, b, pointSize);
                 cloud.push_back(point, lineIndex);
                 totalCount++;
             }

CloudView/Src/PointCloudGLWidget.cpp

@@ -2,6 +2,7 @@
 #include <QDebug>
 #include <QtMath>
 #include <cfloat>
+#include <map>
 #include "VrLog.h"
 
 // OpenGL/GLU 头文件
@@ -196,6 +197,27 @@ void PointCloudGLWidget::paintGL()
 
         glDisableClientState(GL_VERTEX_ARRAY);
         glDisableClientState(GL_COLOR_ARRAY);
+
+        // 绘制自定义大小的点（RGBA 中 A > 1 的点）
+        if (cloudData.hasCustomPointSizes) {
+            glDepthFunc(GL_LEQUAL);  // 允许在相同深度覆盖绘制
+            for (const auto& group : cloudData.customPointSizeGroups) {
+                glPointSize(group.pointSize);
+                glBegin(GL_POINTS);
+                for (size_t idx : group.indices) {
+                    size_t vi = idx * 3;
+                    if (vi + 2 < cloudData.vertices.size()) {
+                        if (cloudData.hasColor && vi + 2 < cloudData.colors.size()) {
+                            glColor3f(cloudData.colors[vi], cloudData.colors[vi + 1], cloudData.colors[vi + 2]);
+                        }
+                        glVertex3f(cloudData.vertices[vi], cloudData.vertices[vi + 1], cloudData.vertices[vi + 2]);
+                    }
+                }
+                glEnd();
+            }
+            glDepthFunc(GL_LESS);    // 恢复默认深度测试
+            glPointSize(m_pointSize); // 恢复默认点大小
+        }
     }
 
     drawSelectedPoints();
@@ -296,12 +318,19 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
     data.colors.reserve(cloud.size() * 3);
     data.totalLines = 0;
     data.pointsPerLine = 0;
+    data.hasCustomPointSizes = false;
+
+    // 用于按点大小分组的临时 map
+    std::map<float, std::vector<size_t>> sizeGroupMap;
 
     for (size_t i = 0; i < cloud.points.size(); ++i) {
         const auto& pt = cloud.points[i];
         if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) {
             continue;
         }
+
+        size_t pointIndex = data.vertices.size() / 3;
+
         data.vertices.push_back(pt.x);
         data.vertices.push_back(pt.y);
         data.vertices.push_back(pt.z);
@@ -321,6 +350,23 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
                 data.totalLines = lineIdx + 1;
             }
         }
+
+        // 收集自定义点大小（A > 1）
+        if (pt.pointSize > 1.0f) {
+            sizeGroupMap[pt.pointSize].push_back(pointIndex);
+        }
+    }
+
+    // 构建自定义点大小分组
+    if (!sizeGroupMap.empty()) {
+        data.hasCustomPointSizes = true;
+        for (auto& pair : sizeGroupMap) {
+            PointCloudData::PointSizeGroup group;
+            group.pointSize = pair.first;
+            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());
     }
 
     // 计算每线点数
@@ -1187,16 +1233,26 @@ void PointCloudGLWidget::drawLineSegments()
         return;
     }
 
-    glLineWidth(2.0f);
+    // 按线宽分组绘制
-    glBegin(GL_LINES);
+    // 收集所有不同的线宽值（0 表示默认 2.0f）
-
+    std::map<float, QVector<int>> widthGroups;
-    for (const auto& seg : m_lineSegments) {
+    for (int i = 0; i < m_lineSegments.size(); ++i) {
-        glColor3f(seg.r, seg.g, seg.b);
+        float w = m_lineSegments[i].lineWidth > 0 ? m_lineSegments[i].lineWidth : 2.0f;
-        glVertex3f(seg.x1, seg.y1, seg.z1);
+        widthGroups[w].append(i);
-        glVertex3f(seg.x2, seg.y2, seg.z2);
+    }
+
+    for (const auto& group : widthGroups) {
+        glLineWidth(group.first);
+        glBegin(GL_LINES);
+        for (int idx : group.second) {
+            const auto& seg = m_lineSegments[idx];
+            glColor3f(seg.r, seg.g, seg.b);
+            glVertex3f(seg.x1, seg.y1, seg.z1);
+            glVertex3f(seg.x2, seg.y2, seg.z2);
+        }
+        glEnd();
     }
 
-    glEnd();
     glLineWidth(1.0f);
 }
 

CloudView/main.cpp

@@ -3,7 +3,7 @@
 #include <QIcon>
 #include "CloudViewMainWindow.h"
 
-#define APP_VERSION "1.1.0"
+#define APP_VERSION "1.1.2"
 
 int main(int argc, char* argv[])
 {