2025-09-21 22:20:24 +08:00
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#ifndef POINTCLOUDIMAGEUTILS_H
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#define POINTCLOUDIMAGEUTILS_H
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#include <QImage>
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#include <QColor>
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#include <vector>
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#include <map>
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#include "VZNL_Types.h"
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#include "SG_baseDataType.h"
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2025-10-08 21:45:37 +08:00
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#include "beltTearingDetection_Export.h"
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2025-09-21 22:20:24 +08:00
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struct PointRenderData {
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double x, y;
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PointRenderData(double x_, double y_)
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: x(x_), y(y_) {}
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};
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class PointCloudImageUtils
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{
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public:
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// 点云转图像 - 使用std::vector格式的扫描线数据
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static QImage GeneratePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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2025-10-08 21:45:37 +08:00
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const std::vector<SSG_beltTearingInfo>& beltTearings,
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2025-09-21 22:20:24 +08:00
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int imageWidth, int imageHeight);
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private:
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// 快速计算点云范围
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static bool CalculateRangeFast(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double& xMin, double& xMax,
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double& yMin, double& yMax);
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// 直接绘制点云到图像数据，避免QPainter开销
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static void DrawPointCloudDirect(QImage& image,
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double xMin, double xMax, double yMin, double yMax,
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int imageWidth, int imageHeight);
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// 计算scan lines格式点云的范围 (原始版本)
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static void CalculateScanLinesRange(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double& xMin, double& xMax,
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double& yMin, double& yMax);
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// 优化版本：同时计算范围和准备渲染数据
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static void CalculateScanLinesRangeOptimized(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double& xMin, double& xMax,
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double& yMin, double& yMax,
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std::vector<PointRenderData>& renderData);
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// 绘制LapWeld检测结果
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static void DrawLapWeldResults(QPainter& painter,
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const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
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double xMin, double xMax, double yMin, double yMax,
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int imageWidth, int imageHeight);
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2025-10-08 21:45:37 +08:00
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// 绘制皮带撕裂检测结果
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static void DrawBeltTearingResults(QPainter& painter,
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const std::vector<SSG_beltTearingInfo>& tearings,
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double xMin, double xMax, double yMin, double yMax,
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int imageWidth, int imageHeight);
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2025-09-21 22:20:24 +08:00
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// 优化版本：批量绘制点云
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static void DrawPointCloudOptimized(QPainter& painter,
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const std::vector<PointRenderData>& renderData,
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double xMin, double xMax, double yMin, double yMax,
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int imageWidth, int imageHeight);
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};
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#endif // POINTCLOUDIMAGEUTILS_H
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