增加点的大小

CloudUtils/Src/LaserDataLoader.cpp

@@ -363,8 +363,11 @@ int LaserDataLoader::LoadPolySegments(const std::string& fileName,
                     pt.y = fy;
                     pt.z = fz;
                     if (cnt >= 7) {
-                        // 解析到了颜色 R,G,B,A（0-255）
+                        // 解析到了颜色 R,G,B,A（0-255），Alpha 存储在高 8 位
-                        int nRGB = B; nRGB <<= 8; nRGB += G; nRGB <<= 8; nRGB += R;
+                        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;
@@ -650,12 +653,11 @@ int LaserDataLoader::_ParseLaserScanPoint(const std::string& data, SVzNLPointXYZ
         sData.y = Y;
         sData.z = Z;
 
-        // R,G,B 是 0-255 整数值
+        // R,G,B,A 是 0-255 整数值，Alpha 存储在高 8 位
-        int nRGB = B;
+        unsigned int nRGB = static_cast<unsigned int>(A) << 24;
-        nRGB <<= 8;
+        nRGB |= static_cast<unsigned int>(B) << 16;
-        nRGB += G;
+        nRGB |= static_cast<unsigned int>(G) << 8;
-        nRGB <<= 8;
+        nRGB |= static_cast<unsigned int>(R);
-        nRGB += R;
         sData.nRGB = nRGB;
 
         s2DData.sLeft.x = leftX;

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

@@ -708,14 +708,17 @@ bool CloudViewMainWindow::loadSegmentFile(const QString& fileName)
         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
+            // 取起点颜色作为线段颜色，nRGB 为 (A<<24)|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;
+            uint8_t a = static_cast<uint8_t>((p1.nRGB >> 24) & 0xFF);
+            // A > 1 时作为线宽使用
+            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));
+                r, g, b, lineWidth));
         }
     }
 

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 (int i = 0; i < m_lineSegments.size(); ++i) {
+        float w = m_lineSegments[i].lineWidth > 0 ? m_lineSegments[i].lineWidth : 2.0f;
+        widthGroups[w].append(i);
+    }
 
-    for (const auto& seg : m_lineSegments) {
+    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();
+    }
+
     glLineWidth(1.0f);
 }
 

CloudView/main.cpp

@@ -3,7 +3,7 @@
 #include <QIcon>
 #include "CloudViewMainWindow.h"
 
-#define APP_VERSION "1.1.1"
+#define APP_VERSION "1.1.2"
 
 int main(int argc, char* argv[])
 {