qt结合vs，opengl基础示例

一、一些准备工作：

          

1.安装Qt for VS 的插件；

        安装Qt for VS 的插件

        安装Qt 4.8.06

 2.进行一些设置：

        找到菜单项：

        Qt——> Qt Option——> 选取版本   

——>  ——>

在工程选项中添加必须的包含文件和lib文件

然后可以使用Qt

二、工程和代码：

Vs控制台工程可以直接使用Qt的显示框架，使用类似于Qt-IDE的主函数代码：

[cpp]  view plain  copy

1. int _tmain(int argc, char* argv[])  
2. {  
3.     QApplication a(argc, argv);  
4.     CPlot *objViewer = new CPlot();  
5.     objViewer->show();  
6.       
7.     return a.exec();  
8. }  

头文件代码：

[cpp]  view plain  copy

1. #pragma once  
2. /* 
3. */  
4.   
5. #include <QApplication>  
6. #include <QMainWindow>  
7. #include <QWidget>  
8. #include <QAction>  
9. #include <QMenu>  
10. #include <QToolBar>  
11. #include <QGLWidget>  
12.   
13. #include <gl/glut.h>  
14.   
15. #include <QMainWindow>  
16. #include <QWidget>  
17. #include <QAction>  
18. #include <QMenu>  
19. #include <QToolBar>  
20. #include "OpenGLViewer.h"  
21.   
22. class QApplication;  
23. class QMainWindow;  
24. class QWidget;  
25. class QAction;  
26. class QMenu;  
27. class QToolBar;  
28.   
29. class CPlot: public QMainWindow{  
30.   
31.     Q_OBJECT  
32.   
33. public:  
34.     CPlot(QWidget *parent = 0);  
35.     //CPlot();  
36.     ~CPlot(void);  
37.   
38.     //测试OpenGL画图  
39. public:  
40.     static void RenderScene();  
41.     void SetupRC();  
42.     static void ChangeSize( GLsizei w, GLsizei h );  
43.     void drawCircle(int argc, char *argv[]);  
44.   
45.     GLfloat boundingRadius;  
46.     GLfloat LightDistanceRatio;  
47.     GLfloat rotationX;  
48.     GLfloat rotationY;  
49.     GLfloat rotationZ;  
50.     GLfloat xscale;  
51.     GLfloat yscale;  
52.     GLfloat zscale;  
53.     GLfloat transX;  
54.     GLfloat transY;  
55.     GLfloat transZ;  
56.   
57.     void draw3dAxis();  
58.     void draw3dAxis(int argc, char *argv[]);  
59.     void updatePos(const Mat  &rMat);  
60.   
61. private:  
62.     CEkfSlam m_Slamer;  
63.   
64.     private slots:  
65.         void openFile();  
66.         //void closeFile();  
67.         void segmentObj();  
68.         void capture();  
69.   
70. private:  
71.     OpenGLViewer *openglViewer;  
72.   
73. private:  
74.     void initializeGL();  
75.     void setMaterial();  
76.     void GLMaterial(const OpenGL::Material& material);  
77.     void setLight();  
78.     void setAntiAliasing();  
79.     float getBoundingRadius();  
80.     void setTexture(IplImage* img);  
81.     void loadTexture();  
82.     void resetGLLightPosition();  
83.   
84.     void loadMeshFile(char* filename);  
85.     void createActions();  
86.     void createMenus();  
87.     void createToolBars();  
88.   
89. private:  
90.   
91.     QAction *loadFileAction;  
92.     QAction *closeFileAction;  
93.     QAction *segmentObjAction;  
94.     QAction *captureAction;  
95.   
96.     QMenu *fileMenu;  
97.     QMenu *toolMenu;  
98.   
99.     QToolBar *fileToolBar;  
100.     QToolBar *toolsBar;  
101.   
102.     vector<int> faceColors;  
103.     vector<QColor> FaceColorList;  
104.     vector<double>ssdf;  
105.     QPoint lastPos;  
106.     Core::Geometry::MyMesh *mesh;  
107.     int key_type;  
108.     GLuint texName;  
109.     Mat textImage;  
110.   
111. public:  
112.     //1.使用 OpenCV Mat画图！用于显示图像和特征点匹配！  
113.     cv::Mat  m_Canvas;  
114.     cv::Mat  m_CanvasSrc;  
115. private:  
116.     //2.使用 VTK画出点云！用于显示地图和方位演化！  
117.     Eigen::MatrixXf  m_FeatureMap;  
118.   
119.     //画出十字光标  
120.     int cvDrawCrossCursor(  
121.         cv::Mat &Canvas,cv::Point &PointS,cv::Point &PointE,cv::Scalar &Color,int Width,int CV_A_Type,int Mark);  
122.     //画十字光标，中心点、线长度、色彩、线宽  
123.     int cvDrawCrossCursor(  
124.         cv::Mat &Canvas,cv::Point &Center,int Length,cv::Scalar &Color,int Width,int CV_A_Type,int Mark);  
125.   
126. };  

源码文件代码：

[cpp]  view plain  copy

1. #include "StdAfx.h"  
2. #include "Plot.h"  
3.   
4.   
5. #include <iostream>  
6. #include <iomanip>  
7. #include <fstream>  
8. #include <QApplication>  
9. #include <QFileDialog>  
10. #include <QString>  
11. #include <QMenuBar>  
12. #include <QDesktopWidget>  
13. #include <opencv/cv.h>  
14. #include <opencv/highgui.h>  
15. #include <vector>  
16.   
17. class QFileDialog;  
18. class QString;  
19. class QMenuBar;  
20. class QDesktopWidget;  
21.   
22. using namespace Qt;  
23. using namespace OpenGL;  
24.   
25.   
26. 此种用法是错误的，使用mainwindow之前必须构建一个Application！  
27. CPlot::CPlot(QWidget *parent) : QMainWindow(parent){  
28.     openglViewer = new OpenGLViewer();  
29.     this->setCentralWidget(openglViewer);  
30.     this->setWindowTitle("Wishchin's PCL Window");  
31.     this->setGeometry((QApplication::desktop()->width()-1.5 *QApplication::desktop()->height())/2,20,640,480);  
32.   
33.     this->createActions();  
34.     this->createMenus();  
35.     this->createToolBars();  
36.   
37.     //初始化画布  
38.     this->m_Canvas.create(640,480,CV_8UC3);  
39.     this->m_CanvasSrc.create(640,480,CV_8UC3);  
40.   
41.     //this->m_FeatureMap.resize(0);  
42. }  
43.   
44. //CPlot::CPlot(){  
45. //  //初始化画布  
46. //  this->m_Canvas.create(640,480,CV_8UC3);  
47. //  
48. //  //this->m_FeatureMap.resize(0);  
49. //}  
50.   
51.   
52. CPlot::~CPlot(void)  
53. {  
54. }  
55.   
56. void CPlotMark0022(){}  
57.   
58. //画出十字光标  
59. int CPlot::cvDrawCrossCursor(  
60.     cv::Mat &Canvas,cv::Point &PointS,cv::Point &PointE,cv::Scalar &Color,int Width,int CV_A_Type,int Mark)  
61. {  
62.   
63.   
64.     return 1;  
65. }  
66.   
67. //画十字光标，中心点、线长度、色彩、线宽  
68. int CPlot::cvDrawCrossCursor(  
69.     cv::Mat &Canvas,cv::Point &Center,int Length,cv::Scalar &Color,int Width,int CV_A_Type,int Mark)  
70. {  
71.     int H = Length/2;  
72.     cv::Point PointS;cv::Point PointE;  
73.     PointS.x =Center.x ;  
74.     PointS.y =Center.y -H;  
75.     PointE.x =Center.x ;  
76.     PointE.y =Center.y +H;  
77.   
78.     cv::line(this->m_Canvas,PointS,PointE,Color,Width,CV_A_Type,Mark);  
79.   
80.     PointS.x =Center.x -H;  
81.     PointS.y =Center.y;  
82.     PointE.x =Center.x +H;  
83.     PointE.y =Center.y;  
84.     cv::line(this->m_Canvas,PointS,PointE,Color,Width,CV_A_Type,Mark);  
85.   
86.     return 1;  
87. }  
88.   
89. void CPlotMark003(){}  
90.   
91. void CPlot::draw3dAxis(int argc, char *argv[])  
92. {  
93.     Mat rMat(1,3,CV_32F);  
94.     rMat.at<float>(0,0) = 1;  
95.     if (1<0)  
96.         rMat.at<float>(0,1) = 1;  
97.     else  
98.         rMat.at<float>(0,1) = 1;  
99.     if(1<0)  
100.         rMat.at<float>(0,2) = 1;  
101.     else  
102.         rMat.at<float>(0,2) = 1;  
103.   
104.   
105.     this->updatePos(rMat);  
106.     openglViewer->updateGL();  
107.   
108.     return;  
109. }  
110.   
111. void CPlot::updatePos(const Mat& rMat)  
112. {  
113.     Mat rrMat;  
114.     rMat.convertTo(rrMat , CV_32F);  
115.     //rMat.convertTo(rMat , CV_32F);  
116.     rotationX = rrMat.at<float>(0,0);   
117.     rotationY = rrMat.at<float>(0,1);  
118.     rotationZ = rrMat.at<float>(0,2);  
119. }  
120.   
121. void CPlot::draw3dAxis()  
122. {  
123.   
124.     GLfloat x = GLfloat(640) / 480;  
125.     glMatrixMode(GL_MODELVIEW);   
126.     glLoadIdentity();  
127.     gluLookAt(-2.0 , 6.0, -4.0, 0.0 , 0.0 , 0.0 , 0.0, 1.0 , 0.0);  
128.   
129.     float len = 0.2;  
130.   
131.     //The world axis /coordinate system！  
132.     //1. Line！  
133.     glColor3f(0.0f,0.0f,1.0f);    
134.     glBegin(GL_LINES);    
135.   
136.     glVertex3f(-2.0f,00.0f,0.0f);//X line！  
137.     glVertex3f(2.0f,0.0f,0.0f);    
138.   
139.     glVertex3f(0.0f,-2.0f,0.0f); //Y line！   
140.     glVertex3f(0.0f,2.0f,0.0f);    
141.   
142.     glVertex3f(0.0f,0.0f,-2.0f); //Z line！   
143.     glVertex3f(0.0f,0.0f,2.0f);    
144.     glEnd();    
145.   
146.     //The world axis /coordinate system！  
147.     //2. arrows!  
148.     glColor3f(1.0f,0.0f,0.0f); // x arrows   
149.     glPushMatrix();    
150.     glTranslatef(2.0f,0.0f,0.0f);    
151.     glRotatef(90.0f,0.0f,1.0f,0.0f);    
152.     glutSolidCone(0.1,0.3,10,10);    
153.     glTranslatef(0.0f,0.0f,0.4f);   
154.     glBegin(GL_LINES);    
155.     glVertex3f(-len,len,0.0f);    
156.     glVertex3f(len,-len,0.0f);     
157.     glEnd();   
158.     glBegin(GL_LINES);    
159.     glVertex3f(len,len,0.0f);    
160.     glVertex3f(-len,-len,0.0f);     
161.     glEnd();   
162.     glPopMatrix();    
163.   
164.     glColor3f(0.0f,1.0f,0.0f); // y arrows   
165.     glPushMatrix();    
166.     glTranslatef(0.0f,2.0f,0.0f);    
167.     glRotatef(-90.0f,1.0f,0.0f,0.0f);    
168.     glutSolidCone(0.1,0.3,10,10);    
169.     glTranslatef(0.0f,0.0f,0.4f);   
170.     glBegin(GL_LINES);    
171.     glVertex3f(-len,len,0.0f);    
172.     glVertex3f(0,0,0.0f);     
173.     glEnd();   
174.     glBegin(GL_LINES);    
175.     glVertex3f(len,len,0.0f);    
176.     glVertex3f(0,0,0.0f);     
177.     glEnd();   
178.     glBegin(GL_LINES);    
179.     glVertex3f(0,-len,0.0f);    
180.     glVertex3f(0,0,0.0f);     
181.     glEnd();   
182.     glPopMatrix();    
183.   
184.     glColor3f(0.0f,0.0f,1.0f); // z  arrows  
185.     glPushMatrix();    
186.     glTranslatef(0.0f,0.0f,2.0f);    
187.     glRotatef(90.0f,0.0f,0.0f,1.0f);    
188.     glutSolidCone(0.1,0.3,10,10);    
189.     glTranslatef(0.0f,0.0f,0.4);   
190.     glTranslatef(0.0f,0.0f,0.4f);   
191.     glBegin(GL_LINES);    
192.     glVertex3f(-len,len,0.0f);    
193.     glVertex3f(len,len,0.0f);     
194.     glEnd();   
195.     glBegin(GL_LINES);    
196.     glVertex3f(len,len,0.0f);    
197.     glVertex3f(-len,-len,0.0f);     
198.     glEnd();   
199.     glBegin(GL_LINES);    
200.     glVertex3f(-len,-len,0.0f);    
201.     glVertex3f(len,-len,0.0f);     
202.     glEnd();   
203.     glPopMatrix();   
204.   
205.     glTranslatef(transX,transY,-transZ);  
206.     glRotatef(rotationX , 1.0,0.0,0.0);  
207.     glRotatef(rotationY , 0.0,1.0,0.0);  
208.     glRotatef(rotationZ , 0.0,0.0,1.0);  
209.     glScalef(xscale, yscale, zscale);  
210.   
211.     //The Cube aixs / coordinate system！  
212.     //1. The axis line!   
213.     glColor3f(1.0f,1.0f,1.0f);    
214.     glBegin(GL_LINES);    
215.     glVertex3f(-1.2f,00.0f,0.0f);    
216.     glVertex3f(1.2f,0.0f,0.0f);    
217.     glVertex3f(0.0f,-1.2f,0.0f);    
218.     glVertex3f(0.0f,1.2f,0.0f);    
219.     glVertex3f(0.0f,0.0f,-1.2f);    
220.     glVertex3f(0.0f,0.0f,1.2f);    
221.     glEnd();    
222.   
223.     //The Cube aixs / coordinate system！  
224.     //2. The axis arrow!  
225.     glColor3f(1.0f,0.0f,0.0f); //x arrow  
226.     glPushMatrix();    
227.     glTranslatef(1.2f,0.0f,0.0f);    
228.     glRotatef(90.0f,0.0f,1.0f,0.0f);    
229.     glutSolidCone(0.05,0.15,10,10);    
230.     glPopMatrix();    
231.   
232.     glColor3f(0.0f,1.0f,0.0f); // y    
233.     glPushMatrix();    
234.     glTranslatef(0.0f,1.2f,0.0f);    
235.     glRotatef(-90.0f,1.0f,0.0f,0.0f);    
236.     glutSolidCone(0.05,0.15,10,10);    
237.     glPopMatrix();    
238.   
239.     glColor3f(0.0f,0.0f,1.0f); // z    
240.     glPushMatrix();    
241.     glTranslatef(0.0f,0.0f,1.2f);    
242.     glRotatef(90.0f,0.0f,0.0f,1.0f);    
243.     glutSolidCone(0.05,0.15,10,10);    
244.     glPopMatrix();   
245.   
246.     The Cube Model  
247.     //for(int i=0;i<mesh->getFCount();i++){  
248.   
249.     //  glLoadName(i);  
250.     //  glBegin(GL_TRIANGLES);  
251.     //  double r,g,b;  
252.     //  FaceColorList[1].getRgbF(&r,&g,&b);  
253.     //  glColor3d(r,g,b);  
254.     //  for(int j=0;j<3;j++){  
255.     //      MyPoint_ p = mesh->getPoint(mesh->getFace(i).getRef(j));  
256.     //      glNormal3d(p.GetNormal()[0],p.GetNormal()[1],p.GetNormal()[2]);  
257.     //      glVertex3f(p.GetPoint()[0], p.GetPoint()[1], p.GetPoint()[2]);  
258.     //  }  
259.     //  glEnd();  
260.     //}  
261.     //glFlush();  
262.   
263. }  
264. //测试使用OpenGL画圆！  
265. void CPlot::drawCircle(int argc, char *argv[])  
266. {  
267.     glutInit(&argc, argv);  
268.     glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);  
269.     glutInitWindowSize (400, 300);  
270.     glutInitWindowPosition (100, 100);  
271.     glutCreateWindow( "Point examples" );  
272.     glutDisplayFunc( this->RenderScene );  
273.     glutReshapeFunc( this->ChangeSize );  
274.     SetupRC();  
275.     glutMainLoop();  
276.   
277.     return ;  
278. }  
279. void CPlot::RenderScene()  
280. {  
281.     //清空颜色缓冲区，填充的颜色由 glClearColor( 0, 0.0, 0.0, 1 ); 指定为黑色  
282.     glClear( GL_COLOR_BUFFER_BIT );  
283.   
284.     //绘制一个点  
285.     {  
286.         glColor3f( 1.0f, 0.0f, 0.0f );//指定点的颜色,红色  
287.         glPointSize( 9 );//指定点的大小，9个像素单位  
288.   
289.         glBegin( GL_POINTS );//开始画点  
290.         {  
291.             glVertex3f(0.0f, 0.0f, 0.0f); // 在坐标为(0,0,0)的地方绘制了一个点  
292.         }  
293.         glEnd();//结束画点  
294.     }  
295.   
296.     //绘制一个点圆  
297.   
298.     {  
299.         glColor3f( 0.0f, 1.0f, 0.0f );//指定点的颜色,绿色  
300.         glPointSize( 3 );//指定点的大小，3个像素单位  
301.   
302.         glBegin( GL_POINTS );  
303.         {  
304. #define PI 3.14159f  
305. #define RADIUS 50.f  
306.             GLfloat x = 0, y = 0, angle = 0.0;  
307.             for ( angle = 0; angle <= 2.0f * PI; angle += 0.1f )  
308.             {  
309.                 x = RADIUS * sin( angle );  
310.                 y = RADIUS * cos( angle );  
311.                 glVertex3f( x, y, 0 );  
312.             }  
313.         }  
314.         glEnd();  
315.     }  
316.   
317.     //绘制x、y坐标轴  
318.     {  
319.         glColor3f( 0.0f, 0.0f, 1.0f );//指定线的颜色,蓝色  
320.         glBegin( GL_LINES );  
321.         {  
322.             // x-axis  
323.             glVertex3f( -100.0f, 0.0f, 0.0f);  
324.             glVertex3f( 100.0f, 0.0f, 0.0f);  
325.   
326.             // x-axis arrow  
327.             glVertex3f( 100.0f, 0.0f, 0.0f);  
328.             glVertex3f( 93.0f, 3.0f, 0.0f);  
329.             glVertex3f( 100.0f, 0.0f, 0.0f);  
330.             glVertex3f( 93.0f,-3.0f, 0.0f);  
331.   
332.             // y-axis  
333.             glVertex3f( 0.0f, -100.0f, 0.0f);  
334.             glVertex3f( 0.0f, 100.0f, 0.0f);  
335.             glVertex3f( 0.0f, 100.0f, 0.0f);  
336.             glVertex3f( 3.0f, 93.0f, 0.0f);  
337.             glVertex3f( 0.0f, 100.0f, 0.0f);  
338.             glVertex3f( -3.0f, 93.0f, 0.0f);  
339.         }  
340.         glEnd();  
341.     }  
342.   
343.   
344.     glutSwapBuffers();  
345. }  
346.   
347. void CPlot::SetupRC()  
348. {  
349.     glClearColor( 0, 0.0, 0.0, 1 );  
350.     glColor3f( 1.0f, 0.0f, 0.0f );  
351. }  
352.   
353. void CPlot::ChangeSize( GLsizei w, GLsizei h )  
354. {  
355.     GLfloat nRange = 100.0f;  
356.   
357.     // Prevent a divide by zero  
358.     if(h == 0)  
359.         h = 1;  
360.   
361.     // Set Viewport to window dimensions  
362.     glViewport(0, 0, w, h);  
363.   
364.     // Reset projection matrix stack  
365.     glMatrixMode(GL_PROJECTION);  
366.     glLoadIdentity();  
367.   
368.     // Establish clipping volume (left, right, bottom, top, near, far)  
369.     if (w <= h)  
370.         glOrtho (-nRange, nRange, -nRange*h/w, nRange*h/w, -nRange, nRange);  
371.     else  
372.         glOrtho (-nRange*w/h, nRange*w/h, -nRange, nRange, -nRange, nRange);  
373.   
374.     // Reset Model view matrix stack  
375.     glMatrixMode(GL_MODELVIEW);  
376.     glLoadIdentity();  
377. }  
378.   
379. void CPlotMark004(){}  
380.   
381. void CPlot::initializeGL()  
382. {  
383.     //loadTexture();  
384.     loadMeshFile("cub.off");//loadMeshFile("sword.off");//  
385.     //qglClearColor(QColor(204,204,204)/*Qt::white*/);//暂时注销，wishchin！！！  
386.   
387.     glShadeModel(GL_SMOOTH);  
388.     glClearDepth(1.0f);  
389.     glEnable(GL_DEPTH_TEST);  
390.     glEnable(GL_NORMALIZE);  
391.     glLineWidth(1.5);  
392.   
393.     //glColor3d(100,100,100);  
394.     setMaterial();  
395.     setLight();  
396. }  
397. void CPlot::setLight() {  
398.     GLfloat light_ambient[] = {0.0f, 0.0f, 0.0f, 1.0f};  
399.     GLfloat light_diffuse[] = {1.0f, 1.0f, 1.0f, 1.0f};  
400.     GLfloat light_specular[]= {1.0f, 1.0f, 1.0f, 1.0f};  
401.   
402.     glLightfv( GL_LIGHT0, GL_AMBIENT, light_ambient);  
403.     glLightfv( GL_LIGHT0, GL_DIFFUSE, light_diffuse);  
404.     glLightfv( GL_LIGHT0, GL_SPECULAR, light_specular);  
405.   
406.     glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);  
407.     //glLightModeli(GL_LIGHT_MODEL_COLOR_CONTROL  , GL_RGB);  
408.     //glLightModeli(GL_LIGHT_MODEL_COLOR_CONTROL , GL_SEPARATE_SPECULAR_COLOR);  
409.   
410.     glEnable(GL_LIGHTING);  
411.     glEnable(GL_LIGHT0);  
412.   
413.     resetGLLightPosition();  
414. }  
415.   
416. void CPlot::setMaterial() {  
417.     glEnable(GL_COLOR_MATERIAL);  
418.     GLMaterial(  
419.         OpenGL::Material::GetMaterial(OpenGL::Material::Default));  
420. }  
421. void CPlot::GLMaterial(const OpenGL::Material& material)  
422. {     
423.     glMaterialfv(GL_FRONT, GL_DIFFUSE, material.diffuse);  
424.     glMaterialfv(GL_FRONT, GL_SPECULAR, material.specular);  
425.     glMaterialfv(GL_FRONT, GL_AMBIENT, material.ambient);  
426.     glMaterialf(GL_FRONT, GL_SHININESS, material.shininess);  
427.   
428.     glMaterialfv(GL_BACK, GL_DIFFUSE, material.diffuse);  
429.     glMaterialfv(GL_BACK, GL_SPECULAR, material.specular);  
430.     glMaterialfv(GL_BACK, GL_AMBIENT, material.ambient);  
431.     glMaterialf(GL_BACK, GL_SHININESS, material.shininess);  
432. }  
433. void CPlot::setAntiAliasing() {  
434.     glEnable ( GL_POLYGON_SMOOTH );  
435.     glEnable( GL_LINE_SMOOTH );  
436.     glEnable ( GL_POINT_SMOOTH );  
437.   
438.     glEnable(GL_BLEND);  
439.     glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);  
440.   
441.     glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST );  
442.     glHint(GL_LINE_SMOOTH_HINT, GL_NICEST );  
443.     glHint(GL_POINT_SMOOTH_HINT, GL_NICEST );  
444.     glEnable(GL_COLOR_MATERIAL);  
445. }  
446.   
447. void CPlot::setTexture(IplImage* img){  
448.     glPixelStorei(GL_UNPACK_ALIGNMENT, 1);    
449.     glGenTextures(1, &texName);    
450.     glBindTexture(GL_TEXTURE_2D, texName);    
451.   
452.     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);    
453.     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);    
454.     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);    
455.     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);    
456.     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height,     
457.         0, GL_RGB, GL_UNSIGNED_BYTE, img->imageData);  
458.     glEnable(GL_TEXTURE_2D);    
459.     glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);    
460.     glBindTexture(GL_TEXTURE_2D, texName);    
461. }  
462.   
463. void CPlot::resetGLLightPosition() {  
464.     boundingRadius = getBoundingRadius();  
465.     GLfloat light_position[] = {0.0f, 0.0,   
466.         (float)(LightDistanceRatio*boundingRadius) , 1.0f};  
467.     glLightfv(GL_LIGHT0, GL_POSITION, light_position);  
468. }  
469. float CPlot::getBoundingRadius() {  
470.     //if (meshes.size() == 0) return 0;  
471.   
472.     Core::Geometry::Vector3D pmin, pmax;  
473.     //auto it = meshes.begin();  
474.     //do {  
475.     //  MyMesh* last = *it;  
476.     BoundingBox box = mesh->calBoundBox();  
477.     //      if (it == meshes.begin()) {  
478.     //          pmin = box.min;  
479.     //          pmax = box.max;  
480.     //      } else {  
481.     //          pmin = min(pmin, box.min);  
482.     //          pmax = max(pmax, box.max);  
483.     //      }  
484.     //  } while ((++it) != meshes.end());  
485.     pmax = box.max ; pmin = box.min;  
486.     return sqrt(  
487.         pow(pmax[0] - pmin[0],2)+  
488.         pow(pmax[1] - pmin[1],2)+  
489.         pow(pmax[2] - pmin[2],2)  
490.         );  
491. }  
492. void CPlot::loadMeshFile(char* filename)  
493. {  
494.     xscale = 1.0; yscale = 1.0; zscale = 1.0;  
495.     transX = 0.0; transY = 0.0;  
496.   
497.     faceColors.clear();  
498.     mesh->LoadFromFile(filename);  
499.     mesh->calFaceNormal();  
500.     mesh->calVertexNormal();  
501.     int fCount = mesh->getFCount();  
502.     char buf[255];  
503.     sprintf(buf, "%s", filename);  
504.     int len = strlen(buf);  
505.     buf[len-1] = 'f'; buf[len-2] = 'd'; buf[len-3] = 's';  
506.     FILE *fp = NULL;  
507. }  
508.   
509. void CPlotMark005(){}  
510.   
511. //初始化坐标系，画出世界坐标系、标志BOX、Box坐标系！  
512. void CPlot::createActions(){  
513.   
514.     loadFileAction    = new QAction(tr("&Load"), this);  
515.     closeFileAction   = new QAction(tr("&Close"), this);  
516.     segmentObjAction  = new QAction(tr("&Segment"), this);  
517.     captureAction     = new QAction(tr("Capture") , this);  
518.   
519.     connect(loadFileAction, SIGNAL(triggered()), this, SLOT(openFile()));  
520.     connect(closeFileAction, SIGNAL(triggered()), this, SLOT(close()));  
521.     connect(segmentObjAction, SIGNAL(triggered()), this, SLOT(segmentObj()));  
522.     connect(captureAction, SIGNAL(triggered()), this, SLOT(capture()));  
523. }  
524.   
525. void CPlot::createMenus(){  
526.     fileMenu = menuBar()->addMenu(tr("&File"));  
527.     fileMenu->addAction(loadFileAction);  
528.     fileMenu->addAction(closeFileAction);  
529.     fileMenu->addAction(captureAction);  
530.     toolMenu = menuBar()->addMenu(tr("&Tool"));  
531.     toolMenu->addAction(segmentObjAction);  
532.     toolMenu->addAction(captureAction);  
533. }  
534.   
535. void CPlot::createToolBars(){  
536.   
537.     fileToolBar = addToolBar(tr("&File"));  
538.     fileToolBar->addAction(loadFileAction);  
539.     fileToolBar->addAction(closeFileAction);  
540.     toolsBar = addToolBar(tr("Tool"));  
541.     toolsBar->addAction(segmentObjAction);  
542. }  
543.   
544. void CPlot::openFile()  
545. {  
546.     QString filename = QFileDialog::getOpenFileName(this, tr("Load a Shape"), ".", tr("Object Model (*.obj *.off)"));  
547.     this->openglViewer->loadMeshFile(filename.toLatin1().data());  
548.     this->openglViewer->updateGL();  
549. }  
550.   
551. void CPlot::segmentObj(){  
552.   
553.   
554. }  
555.   
556.   
557. //进行数据读入  
558. void CPlot::capture(){  
559.   
560.   
561.     //  
562.     // Do what you want  
563.     // example  
564.     // you can call openglViewer->updatePos(const Mat& rMat) function to show your Sensorfunsion  
565.     // result, note that once you call this function, you can just call openglViewer->updateGL()  
566.     // the re-paint the GL  
567.     // like:  
568.     char buffer[255];  
569.     //ifstream pfile("/home/hll260/aiglass/proj/firefly-3288/1.txt");  
570.     fstream pfile;  
571.     pfile.open("D://SensorFusionVector//1030.txt");  
572.     fstream outfile,outfile2;  
573.     outfile.open("D://SensorFusionVector//2.txt");  
574.     outfile2.open("D://SensorFusionVector//1103.txt");  
575.   
576.     if(!pfile)  
577.     {    
578.         printf("Can not open file!!");   
579.         _exit(1);  
580.     }  
581.     long long sp = pfile.tellg();  
582.     while(sp <= 207)  
583.     {  
584.         pfile.seekg(0,ios::end);  
585.         sp = pfile.tellg();  
586.         cout << sp << endl;  
587.     }  
588.   
589.     float ax,ay,az,gx,gy,gz;  
590.     char testgy[10];  
591.     char *gyy="Gyro";  
592.     char testac[10];  
593.     char *acc="Acce";  
594.     SensorFusion sf;  
595.     int bbbb=1;  
596.     vector <float> gyro(3,0);  
597.     vector <float> accel(3,0);  
598.     long long lastsp=0;  
599.     pfile.seekg(lastsp);  
600.     for(int i=1;i<=10;i++)  
601.     {  
602.         pfile.getline(buffer,100);  
603.     }  
604.     lastsp = pfile.tellg();  
605.   
606.     char buffer1[50];  
607.     char buffer2[50];  
608.     long linep=0;  
609.     while (1)//!pfile.eof()  
610.     {  
611.         pfile.seekg(0,ios::end);  
612.         pfile.clear();  
613.         sp = pfile.tellg();  
614.         if (linep==0)  
615.             pfile.seekg(lastsp);  
616.         else  
617.             pfile.seekg(linep);  
618.         //cout <<sp<<"  "<<lastsp<<endl;  
619.         if (sp>lastsp)  
620.         {  
621.             lastsp=sp;  
622.             while(linep+144<sp)  
623.             {  
624.   
625.                 pfile.getline(buffer1,40);  
626.                 sscanf (buffer1,"%4s,%f,%f,%f",testac,&ax,&ay,&az);  
627.                 pfile.getline(buffer2,40);  
628.                 sscanf (buffer2,"%4s,%f,%f,%f",testgy,&gx,&gy,&gz);  
629.                 linep = pfile.tellg();  
630.                 if(strcmp(testac, acc) == 0&&strcmp(testac, testgy) == 0)  
631.                 {  
632.                     pfile.getline(buffer2,40);  
633.                     sscanf (buffer2,"%4s,%f,%f,%f",testgy,&gx,&gy,&gz);  
634.                     linep = pfile.tellg();  
635.                     if(strcmp(testac, acc) == 0)  
636.                     {  
637.                         accel.push_back(ax);  
638.                         accel.push_back(ay);  
639.                         accel.push_back(az);  
640.                         for (int i=0;i<3;i++)  
641.                         {  
642.                             accel.erase(accel.begin());  
643.                         }  
644.                     }  
645.                     if (strcmp(testgy, gyy) == 0)  
646.                     {    
647.                         gyro.push_back(gx);  
648.                         gyro.push_back(gy);  
649.                         gyro.push_back(gz);  
650.                         for (int i=0;i<3;i++)  
651.                         {  
652.                             gyro.erase(gyro.begin());  
653.                         }  
654.                     }  
655.                 }  
656.                 else  
657.                 {  
658.                     if(strcmp(testac, acc) == 0)  
659.                     {  
660.                         accel.push_back(ax);  
661.                         accel.push_back(ay);  
662.                         accel.push_back(az);  
663.                         for (int i=0;i<3;i++)  
664.                         {  
665.                             accel.erase(accel.begin());  
666.                         }  
667.                     }  
668.                     if (strcmp(testgy, gyy) == 0)  
669.                     {    
670.                         gyro.push_back(gx);  
671.                         gyro.push_back(gy);  
672.                         gyro.push_back(gz);  
673.                         for (int i=0;i<3;i++)  
674.                         {  
675.                             gyro.erase(gyro.begin());  
676.                         }  
677.                     }  
678.                 }  
679.                 sf.SensorPretreatment(gyro);  
680.                 sf.handlemessage(accel,gyro,0.001);  
681.   
682.                 Mat rMat(1,3,CV_32F);  
683.                 //弧度 转角度  
684.                 rMat.at<float>(0,0) = -sf.jiaodu[1]*57.3;  
685.                 if (sf.jiaodu[0]<0)  
686.                     rMat.at<float>(0,1) = 360-sf.jiaodu[0]*57.3;  
687.                 else  
688.                     rMat.at<float>(0,1) = sf.jiaodu[0]*57.3;  
689.                 if(sf.jiaodu[2]<0)  
690.                     rMat.at<float>(0,2) = sf.jiaodu[2]*57.3;  
691.                 else  
692.                     rMat.at<float>(0,2) = sf.jiaodu[2]*57.3;  
693.   
694.                 //传入三维坐标参数为绝对位置（相对于原点）  
695.                 rMat.at<float>(0,3) = sf.LocX;  
696.                 rMat.at<float>(0,4) = sf.LocY;  
697.                 rMat.at<float>(0,5) = sf.LocZ;  
698.   
699.                 openglViewer->updatePos(rMat);  
700.                 openglViewer->updateGL();  
701.                 outfile<<sf.jiaodu[0]*57.3<<" "<<sf.jiaodu[1]*57.3<<" "<<sf.jiaodu[2]*57.3<<endl;  
702.                 cout<<sf.jiaodu[0]*57.3<<" "<<sf.jiaodu[1]*57.3<<" "<<sf.jiaodu[2]*57.3<<" "<<gyro.size()<<endl;  
703.   
704.                 outfile2<<double(accel[0])<<" "<<double(accel[1])<<" "<<double(accel[2])<<endl;  
705.                 outfile2<<double(gyro[0])<<" "<<double(gyro[1])<<" "<<double(gyro[2])<<endl;  
706.                 outfile2<<"sp:"<<sp<<"    linep:"<<linep<<endl;  
707.   
708.             }  
709.         }  
710.         else  
711.         {     
712.             continue;  
713.         }  
714.     }  
715.     outfile.close();  
716.     outfile2.close();  
717.     pfile.close();  
718.   
719. }