Реструктуризация проекта и генератор синтетических датасетов эхолота.
Перенесены backend/frontend/desktop/engine, добавлены вкладки конструктора сцен и генератора датасета с параметрами лучей и длины сетки рельефа, обновлены API и Docker-сборка. Co-authored-by: Cursor <cursoragent@cursor.com>
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Cursor
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#include "glview.h"
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#include <QMatrix4x4>
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#include <QMouseEvent>
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#include <QVector3D>
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#include <QWheelEvent>
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#include <QtMath>
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GlView::GlView(QWidget *parent)
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: QOpenGLWidget(parent)
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, m_yawDeg(-30.0f)
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, m_pitchDeg(25.0f)
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, m_distance(4.0f)
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, m_minDistance(0.5f)
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, m_maxDistance(2000.0f)
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, m_center(0.0f, 0.0f, 0.0f)
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, m_radius(1.0f)
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, m_panX(0.0f)
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, m_panY(0.0f)
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, m_surfaceVisible(true)
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{
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}
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void GlView::setData(const QVector<core::Point3f> &points, const QVector<core::Triangle> &triangles)
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{
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m_points = points;
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m_triangles = triangles;
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if (!m_points.isEmpty()) {
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QVector3D bmin(m_points[0].x, m_points[0].y, m_points[0].z);
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QVector3D bmax = bmin;
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for (const core::Point3f &p : m_points) {
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bmin.setX(qMin(bmin.x(), p.x));
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bmin.setY(qMin(bmin.y(), p.y));
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bmin.setZ(qMin(bmin.z(), p.z));
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bmax.setX(qMax(bmax.x(), p.x));
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bmax.setY(qMax(bmax.y(), p.y));
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bmax.setZ(qMax(bmax.z(), p.z));
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}
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m_center = (bmin + bmax) * 0.5f;
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m_radius = qMax(1e-3f, (bmax - bmin).length() * 0.5f);
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m_distance = qMax(2.5f * m_radius, 1.0f);
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m_minDistance = qMax(0.05f * m_radius, 0.01f);
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m_maxDistance = qMax(100.0f * m_radius, m_distance * 2.0f);
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m_panX = 0.0f;
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m_panY = 0.0f;
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}
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update();
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}
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void GlView::setSurfaceVisible(const bool visible)
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{
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if (m_surfaceVisible == visible) {
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return;
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}
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m_surfaceVisible = visible;
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update();
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}
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void GlView::initializeGL()
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{
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initializeOpenGLFunctions();
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glEnable(GL_DEPTH_TEST);
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glDisable(GL_CULL_FACE);
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m_program.addShaderFromSourceCode(QOpenGLShader::Vertex,
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"attribute vec3 aPos;\n"
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"uniform mat4 uMvp;\n"
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"void main() {\n"
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" gl_Position = uMvp * vec4(aPos, 1.0);\n"
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"}\n");
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m_program.addShaderFromSourceCode(QOpenGLShader::Fragment,
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"uniform vec3 uColor;\n"
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"void main() {\n"
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" gl_FragColor = vec4(uColor, 1.0);\n"
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"}\n");
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m_program.link();
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}
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void GlView::resizeGL(int w, int h)
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{
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glViewport(0, 0, w, h);
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}
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void GlView::paintGL()
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{
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glClearColor(0.08f, 0.09f, 0.11f, 1.0f);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_points.isEmpty()) {
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return;
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}
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QVector<float> vertices;
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vertices.reserve(m_points.size() * 3);
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for (const core::Point3f &p : m_points) {
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vertices.push_back(p.x - m_center.x());
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vertices.push_back(p.y - m_center.y());
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vertices.push_back(p.z - m_center.z());
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}
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QVector<GLuint> indices;
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indices.reserve(m_triangles.size() * 3);
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QVector<GLuint> edgeIndices;
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edgeIndices.reserve(m_triangles.size() * 6);
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for (const core::Triangle &t : m_triangles) {
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indices.push_back(static_cast<GLuint>(t.i0));
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indices.push_back(static_cast<GLuint>(t.i1));
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indices.push_back(static_cast<GLuint>(t.i2));
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edgeIndices.push_back(static_cast<GLuint>(t.i0));
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edgeIndices.push_back(static_cast<GLuint>(t.i1));
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edgeIndices.push_back(static_cast<GLuint>(t.i1));
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edgeIndices.push_back(static_cast<GLuint>(t.i2));
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edgeIndices.push_back(static_cast<GLuint>(t.i2));
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edgeIndices.push_back(static_cast<GLuint>(t.i0));
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}
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QMatrix4x4 projection;
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projection.perspective(45.0f,
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static_cast<float>(width()) / qMax(1, height()),
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qMax(0.001f, m_distance * 0.001f),
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qMax(m_distance + 4.0f * m_radius, m_distance * 2.0f));
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QMatrix4x4 view;
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view.translate(m_panX, m_panY, -m_distance);
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view.rotate(m_pitchDeg, 1.0f, 0.0f, 0.0f);
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view.rotate(m_yawDeg, 0.0f, 1.0f, 0.0f);
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const QMatrix4x4 mvp = projection * view;
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m_program.bind();
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m_program.setUniformValue("uMvp", mvp);
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m_program.enableAttributeArray("aPos");
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m_program.setAttributeArray("aPos", GL_FLOAT, vertices.constData(), 3);
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if (m_surfaceVisible) {
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glEnable(GL_POLYGON_OFFSET_FILL);
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glPolygonOffset(1.0f, 1.0f);
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m_program.setUniformValue("uColor", QVector3D(0.20f, 0.72f, 0.95f));
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if (!indices.isEmpty()) {
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glDrawElements(GL_TRIANGLES, indices.size(), GL_UNSIGNED_INT, indices.constData());
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}
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glDisable(GL_POLYGON_OFFSET_FILL);
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glLineWidth(2.2f);
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m_program.setUniformValue("uColor", QVector3D(1.0f, 0.2f, 0.08f));
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if (!edgeIndices.isEmpty()) {
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glDrawElements(GL_LINES, edgeIndices.size(), GL_UNSIGNED_INT, edgeIndices.constData());
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}
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}
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glPointSize(4.0f);
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m_program.setUniformValue("uColor", QVector3D(1.0f, 0.85f, 0.2f));
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glDrawArrays(GL_POINTS, 0, m_points.size());
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m_program.disableAttributeArray("aPos");
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m_program.release();
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}
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void GlView::mousePressEvent(QMouseEvent *event)
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{
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m_lastMousePos = event->pos();
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}
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void GlView::mouseMoveEvent(QMouseEvent *event)
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{
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const QPoint delta = event->pos() - m_lastMousePos;
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m_lastMousePos = event->pos();
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if (event->buttons() & Qt::LeftButton) {
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m_yawDeg += static_cast<float>(delta.x()) * 0.5f;
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m_pitchDeg += static_cast<float>(delta.y()) * 0.5f;
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m_pitchDeg = qBound(-89.0f, m_pitchDeg, 89.0f);
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update();
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} else if (event->buttons() & (Qt::RightButton | Qt::MiddleButton)) {
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const float panScale = qMax(0.0005f * m_distance, 0.0005f);
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m_panX += static_cast<float>(delta.x()) * panScale;
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m_panY -= static_cast<float>(delta.y()) * panScale;
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update();
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}
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}
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void GlView::wheelEvent(QWheelEvent *event)
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{
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const float step = static_cast<float>(event->angleDelta().y()) / 120.0f;
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const float zoomFactor = qPow(1.15f, step);
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m_distance /= zoomFactor;
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m_distance = qBound(m_minDistance, m_distance, m_maxDistance);
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update();
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}
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