QT显示框架嵌入Vs控制台工程

  一、一些准备工作：

         

1.安装Qt for VS 的插件；

        安装Qt for VS 的插件

        下载地址：http://download.qt.io/official_releases/vsaddin/

        安装Qt 4.8.6

        下载地址：http://download.qt.io/official_releases/qt/4.8/4.8.6/qt-opensource-windows-x86-vs2010-4.8.6.exe.mirrorlist

 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：

int _tmain(int argc, char* argv[]){    QApplication a(argc, argv);    CPlot *objViewer = new CPlot();    objViewer->show();        return a.exec();}

头文件代码：

#pragma once/**/#include <QApplication>#include <QMainWindow>#include <QWidget>#include <QAction>#include <QMenu>#include <QToolBar>#include <QGLWidget>#include <gl/glut.h>#include <QMainWindow>#include <QWidget>#include <QAction>#include <QMenu>#include <QToolBar>#include "OpenGLViewer.h"class QApplication;class QMainWindow;class QWidget;class QAction;class QMenu;class QToolBar;class CPlot: public QMainWindow{Q_OBJECTpublic:CPlot(QWidget *parent = 0);//CPlot();~CPlot(void);//测试OpenGL画图public:static void RenderScene();void SetupRC();static void ChangeSize( GLsizei w, GLsizei h );void drawCircle(int argc, char *argv[]);GLfloat boundingRadius;GLfloat LightDistanceRatio;GLfloat rotationX;GLfloat rotationY;GLfloat rotationZ;GLfloat xscale;GLfloat yscale;GLfloat zscale;GLfloat transX;GLfloat transY;GLfloat transZ;void draw3dAxis();void draw3dAxis(int argc, char *argv[]);void updatePos(const Mat  &rMat);private:CEkfSlam m_Slamer;private slots:void openFile();//void closeFile();void segmentObj();void capture();private:OpenGLViewer *openglViewer;private:void initializeGL();void setMaterial();void GLMaterial(const OpenGL::Material& material);void setLight();void setAntiAliasing();float getBoundingRadius();void setTexture(IplImage* img);void loadTexture();void resetGLLightPosition();void loadMeshFile(char* filename);void createActions();void createMenus();void createToolBars();private:QAction *loadFileAction;QAction *closeFileAction;QAction *segmentObjAction;QAction *captureAction;QMenu *fileMenu;QMenu *toolMenu;QToolBar *fileToolBar;QToolBar *toolsBar;vector<int> faceColors;vector<QColor> FaceColorList;vector<double>ssdf;QPoint lastPos;Core::Geometry::MyMesh *mesh;int key_type;GLuint texName;Mat textImage;public://1.使用 OpenCV Mat画图！用于显示图像和特征点匹配！cv::Mat  m_Canvas;cv::Mat  m_CanvasSrc;private://2.使用 VTK画出点云！用于显示地图和方位演化！Eigen::MatrixXf  m_FeatureMap;//画出十字光标int cvDrawCrossCursor(cv::Mat &Canvas,cv::Point &PointS,cv::Point &PointE,cv::Scalar &Color,int Width,int CV_A_Type,int Mark);//画十字光标，中心点、线长度、色彩、线宽int cvDrawCrossCursor(cv::Mat &Canvas,cv::Point &Center,int Length,cv::Scalar &Color,int Width,int CV_A_Type,int Mark);};

源码文件代码：

#include "StdAfx.h"#include "Plot.h"#include <iostream>#include <iomanip>#include <fstream>#include <QApplication>#include <QFileDialog>#include <QString>#include <QMenuBar>#include <QDesktopWidget>#include <opencv/cv.h>#include <opencv/highgui.h>#include <vector>class QFileDialog;class QString;class QMenuBar;class QDesktopWidget;using namespace Qt;using namespace OpenGL;////此种用法是错误的，使用mainwindow之前必须构建一个Application！CPlot::CPlot(QWidget *parent) : QMainWindow(parent){openglViewer = new OpenGLViewer();this->setCentralWidget(openglViewer);this->setWindowTitle("Wishchin's PCL Window");this->setGeometry((QApplication::desktop()->width()-1.5 *QApplication::desktop()->height())/2,20,640,480);this->createActions();this->createMenus();this->createToolBars();//初始化画布this->m_Canvas.create(640,480,CV_8UC3);this->m_CanvasSrc.create(640,480,CV_8UC3);//this->m_FeatureMap.resize(0);}//CPlot::CPlot(){////初始化画布//this->m_Canvas.create(640,480,CV_8UC3);//////this->m_FeatureMap.resize(0);//}CPlot::~CPlot(void){}void CPlotMark0022(){}//画出十字光标int CPlot::cvDrawCrossCursor(cv::Mat &Canvas,cv::Point &PointS,cv::Point &PointE,cv::Scalar &Color,int Width,int CV_A_Type,int Mark){return 1;}//画十字光标，中心点、线长度、色彩、线宽int CPlot::cvDrawCrossCursor(cv::Mat &Canvas,cv::Point &Center,int Length,cv::Scalar &Color,int Width,int CV_A_Type,int Mark){int H = Length/2;cv::Point PointS;cv::Point PointE;PointS.x =Center.x ;PointS.y =Center.y -H;PointE.x =Center.x ;PointE.y =Center.y +H;cv::line(this->m_Canvas,PointS,PointE,Color,Width,CV_A_Type,Mark);PointS.x =Center.x -H;PointS.y =Center.y;PointE.x =Center.x +H;PointE.y =Center.y;cv::line(this->m_Canvas,PointS,PointE,Color,Width,CV_A_Type,Mark);return 1;}void CPlotMark003(){}void CPlot::draw3dAxis(int argc, char *argv[]){Mat rMat(1,3,CV_32F);rMat.at<float>(0,0) = 1;if (1<0)rMat.at<float>(0,1) = 1;elserMat.at<float>(0,1) = 1;if(1<0)rMat.at<float>(0,2) = 1;elserMat.at<float>(0,2) = 1;this->updatePos(rMat);openglViewer->updateGL();return;}void CPlot::updatePos(const Mat& rMat){Mat rrMat;rMat.convertTo(rrMat , CV_32F);//rMat.convertTo(rMat , CV_32F);rotationX = rrMat.at<float>(0,0); rotationY = rrMat.at<float>(0,1);rotationZ = rrMat.at<float>(0,2);}void CPlot::draw3dAxis(){GLfloat x = GLfloat(640) / 480;glMatrixMode(GL_MODELVIEW); glLoadIdentity();gluLookAt(-2.0 , 6.0, -4.0, 0.0 , 0.0 , 0.0 , 0.0, 1.0 , 0.0);float len = 0.2;//The world axis /coordinate system！//1. Line！glColor3f(0.0f,0.0f,1.0f);  glBegin(GL_LINES);  glVertex3f(-2.0f,00.0f,0.0f);//X line！glVertex3f(2.0f,0.0f,0.0f);  glVertex3f(0.0f,-2.0f,0.0f); //Y line！ glVertex3f(0.0f,2.0f,0.0f);  glVertex3f(0.0f,0.0f,-2.0f); //Z line！ glVertex3f(0.0f,0.0f,2.0f);  glEnd();  //The world axis /coordinate system！//2. arrows!glColor3f(1.0f,0.0f,0.0f); // x arrows glPushMatrix();  glTranslatef(2.0f,0.0f,0.0f);  glRotatef(90.0f,0.0f,1.0f,0.0f);  glutSolidCone(0.1,0.3,10,10);  glTranslatef(0.0f,0.0f,0.4f); glBegin(GL_LINES);  glVertex3f(-len,len,0.0f);  glVertex3f(len,-len,0.0f);   glEnd(); glBegin(GL_LINES);  glVertex3f(len,len,0.0f);  glVertex3f(-len,-len,0.0f);   glEnd(); glPopMatrix();  glColor3f(0.0f,1.0f,0.0f); // y arrows glPushMatrix();  glTranslatef(0.0f,2.0f,0.0f);  glRotatef(-90.0f,1.0f,0.0f,0.0f);  glutSolidCone(0.1,0.3,10,10);  glTranslatef(0.0f,0.0f,0.4f); glBegin(GL_LINES);  glVertex3f(-len,len,0.0f);  glVertex3f(0,0,0.0f);   glEnd(); glBegin(GL_LINES);  glVertex3f(len,len,0.0f);  glVertex3f(0,0,0.0f);   glEnd(); glBegin(GL_LINES);  glVertex3f(0,-len,0.0f);  glVertex3f(0,0,0.0f);   glEnd(); glPopMatrix();  glColor3f(0.0f,0.0f,1.0f); // z  arrowsglPushMatrix();  glTranslatef(0.0f,0.0f,2.0f);  glRotatef(90.0f,0.0f,0.0f,1.0f);  glutSolidCone(0.1,0.3,10,10);  glTranslatef(0.0f,0.0f,0.4); glTranslatef(0.0f,0.0f,0.4f); glBegin(GL_LINES);  glVertex3f(-len,len,0.0f);  glVertex3f(len,len,0.0f);   glEnd(); glBegin(GL_LINES);  glVertex3f(len,len,0.0f);  glVertex3f(-len,-len,0.0f);   glEnd(); glBegin(GL_LINES);  glVertex3f(-len,-len,0.0f);  glVertex3f(len,-len,0.0f);   glEnd(); glPopMatrix(); glTranslatef(transX,transY,-transZ);glRotatef(rotationX , 1.0,0.0,0.0);glRotatef(rotationY , 0.0,1.0,0.0);glRotatef(rotationZ , 0.0,0.0,1.0);glScalef(xscale, yscale, zscale);//The Cube aixs / coordinate system！//1. The axis line! glColor3f(1.0f,1.0f,1.0f);  glBegin(GL_LINES);  glVertex3f(-1.2f,00.0f,0.0f);  glVertex3f(1.2f,0.0f,0.0f);  glVertex3f(0.0f,-1.2f,0.0f);  glVertex3f(0.0f,1.2f,0.0f);  glVertex3f(0.0f,0.0f,-1.2f);  glVertex3f(0.0f,0.0f,1.2f);  glEnd();  //The Cube aixs / coordinate system！//2. The axis arrow!glColor3f(1.0f,0.0f,0.0f); //x arrowglPushMatrix();  glTranslatef(1.2f,0.0f,0.0f);  glRotatef(90.0f,0.0f,1.0f,0.0f);  glutSolidCone(0.05,0.15,10,10);  glPopMatrix();  glColor3f(0.0f,1.0f,0.0f); // y  glPushMatrix();  glTranslatef(0.0f,1.2f,0.0f);  glRotatef(-90.0f,1.0f,0.0f,0.0f);  glutSolidCone(0.05,0.15,10,10);  glPopMatrix();  glColor3f(0.0f,0.0f,1.0f); // z  glPushMatrix();  glTranslatef(0.0f,0.0f,1.2f);  glRotatef(90.0f,0.0f,0.0f,1.0f);  glutSolidCone(0.05,0.15,10,10);  glPopMatrix(); ////The Cube Model//for(int i=0;i<mesh->getFCount();i++){//glLoadName(i);//glBegin(GL_TRIANGLES);//double r,g,b;//FaceColorList[1].getRgbF(&r,&g,&b);//glColor3d(r,g,b);//for(int j=0;j<3;j++){//MyPoint_ p = mesh->getPoint(mesh->getFace(i).getRef(j));//glNormal3d(p.GetNormal()[0],p.GetNormal()[1],p.GetNormal()[2]);//glVertex3f(p.GetPoint()[0], p.GetPoint()[1], p.GetPoint()[2]);//}//glEnd();//}//glFlush();}//测试使用OpenGL画圆！void CPlot::drawCircle(int argc, char *argv[]){glutInit(&argc, argv);glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);glutInitWindowSize (400, 300);glutInitWindowPosition (100, 100);glutCreateWindow( "Point examples" );glutDisplayFunc( this->RenderScene );glutReshapeFunc( this->ChangeSize );SetupRC();glutMainLoop();return ;}void CPlot::RenderScene(){//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glClear( GL_COLOR_BUFFER_BIT );//绘制一个点{glColor3f( 1.0f, 0.0f, 0.0f );//指定点的颜色,红色glPointSize( 9 );//指定点的大小，9个像素单位glBegin( GL_POINTS );//开始画点{glVertex3f(0.0f, 0.0f, 0.0f); // 在坐标为(0,0,0)的地方绘制了一个点}glEnd();//结束画点}//绘制一个点圆{glColor3f( 0.0f, 1.0f, 0.0f );//指定点的颜色,绿色glPointSize( 3 );//指定点的大小，3个像素单位glBegin( GL_POINTS );{#define PI 3.14159f#define RADIUS 50.fGLfloat x = 0, y = 0, angle = 0.0;for ( angle = 0; angle <= 2.0f * PI; angle += 0.1f ){x = RADIUS * sin( angle );y = RADIUS * cos( angle );glVertex3f( x, y, 0 );}}glEnd();}//绘制x、y坐标轴{glColor3f( 0.0f, 0.0f, 1.0f );//指定线的颜色,蓝色glBegin( GL_LINES );{// x-axisglVertex3f( -100.0f, 0.0f, 0.0f);glVertex3f( 100.0f, 0.0f, 0.0f);// x-axis arrowglVertex3f( 100.0f, 0.0f, 0.0f);glVertex3f( 93.0f, 3.0f, 0.0f);glVertex3f( 100.0f, 0.0f, 0.0f);glVertex3f( 93.0f,-3.0f, 0.0f);// y-axisglVertex3f( 0.0f, -100.0f, 0.0f);glVertex3f( 0.0f, 100.0f, 0.0f);glVertex3f( 0.0f, 100.0f, 0.0f);glVertex3f( 3.0f, 93.0f, 0.0f);glVertex3f( 0.0f, 100.0f, 0.0f);glVertex3f( -3.0f, 93.0f, 0.0f);}glEnd();}glutSwapBuffers();}void CPlot::SetupRC(){glClearColor( 0, 0.0, 0.0, 1 );glColor3f( 1.0f, 0.0f, 0.0f );}void CPlot::ChangeSize( GLsizei w, GLsizei h ){GLfloat nRange = 100.0f;// Prevent a divide by zeroif(h == 0)h = 1;// Set Viewport to window dimensionsglViewport(0, 0, w, h);// Reset projection matrix stackglMatrixMode(GL_PROJECTION);glLoadIdentity();// Establish clipping volume (left, right, bottom, top, near, far)if (w <= h)glOrtho (-nRange, nRange, -nRange*h/w, nRange*h/w, -nRange, nRange);elseglOrtho (-nRange*w/h, nRange*w/h, -nRange, nRange, -nRange, nRange);// Reset Model view matrix stackglMatrixMode(GL_MODELVIEW);glLoadIdentity();}void CPlotMark004(){}void CPlot::initializeGL(){//loadTexture();loadMeshFile("cub.off");//loadMeshFile("sword.off");////qglClearColor(QColor(204,204,204)/*Qt::white*/);//暂时注销，wishchin！！！glShadeModel(GL_SMOOTH);glClearDepth(1.0f);glEnable(GL_DEPTH_TEST);glEnable(GL_NORMALIZE);glLineWidth(1.5);//glColor3d(100,100,100);setMaterial();setLight();}void CPlot::setLight() {GLfloat light_ambient[] = {0.0f, 0.0f, 0.0f, 1.0f};GLfloat light_diffuse[] = {1.0f, 1.0f, 1.0f, 1.0f};GLfloat light_specular[]= {1.0f, 1.0f, 1.0f, 1.0f};glLightfv( GL_LIGHT0, GL_AMBIENT, light_ambient);glLightfv( GL_LIGHT0, GL_DIFFUSE, light_diffuse);glLightfv( GL_LIGHT0, GL_SPECULAR, light_specular);glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);//glLightModeli(GL_LIGHT_MODEL_COLOR_CONTROL  , GL_RGB);//glLightModeli(GL_LIGHT_MODEL_COLOR_CONTROL , GL_SEPARATE_SPECULAR_COLOR);glEnable(GL_LIGHTING);glEnable(GL_LIGHT0);resetGLLightPosition();}void CPlot::setMaterial() {glEnable(GL_COLOR_MATERIAL);GLMaterial(OpenGL::Material::GetMaterial(OpenGL::Material::Default));}void CPlot::GLMaterial(const OpenGL::Material& material){glMaterialfv(GL_FRONT, GL_DIFFUSE, material.diffuse);glMaterialfv(GL_FRONT, GL_SPECULAR, material.specular);glMaterialfv(GL_FRONT, GL_AMBIENT, material.ambient);glMaterialf(GL_FRONT, GL_SHININESS, material.shininess);glMaterialfv(GL_BACK, GL_DIFFUSE, material.diffuse);glMaterialfv(GL_BACK, GL_SPECULAR, material.specular);glMaterialfv(GL_BACK, GL_AMBIENT, material.ambient);glMaterialf(GL_BACK, GL_SHININESS, material.shininess);}void CPlot::setAntiAliasing() {glEnable ( GL_POLYGON_SMOOTH );glEnable( GL_LINE_SMOOTH );glEnable ( GL_POINT_SMOOTH );glEnable(GL_BLEND);glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST );glHint(GL_LINE_SMOOTH_HINT, GL_NICEST );glHint(GL_POINT_SMOOTH_HINT, GL_NICEST );glEnable(GL_COLOR_MATERIAL);}void CPlot::setTexture(IplImage* img){glPixelStorei(GL_UNPACK_ALIGNMENT, 1);  glGenTextures(1, &texName);  glBindTexture(GL_TEXTURE_2D, texName);  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height,   0, GL_RGB, GL_UNSIGNED_BYTE, img->imageData);glEnable(GL_TEXTURE_2D);  glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);  glBindTexture(GL_TEXTURE_2D, texName);  }void CPlot::resetGLLightPosition() {boundingRadius = getBoundingRadius();GLfloat light_position[] = {0.0f, 0.0, (float)(LightDistanceRatio*boundingRadius) , 1.0f};glLightfv(GL_LIGHT0, GL_POSITION, light_position);}float CPlot::getBoundingRadius() {//if (meshes.size() == 0) return 0;Core::Geometry::Vector3D pmin, pmax;//auto it = meshes.begin();//do {//MyMesh* last = *it;BoundingBox box = mesh->calBoundBox();// if (it == meshes.begin()) {// pmin = box.min;// pmax = box.max;// } else {// pmin = min(pmin, box.min);// pmax = max(pmax, box.max);// }// } while ((++it) != meshes.end());pmax = box.max ; pmin = box.min;return sqrt(pow(pmax[0] - pmin[0],2)+pow(pmax[1] - pmin[1],2)+pow(pmax[2] - pmin[2],2));}void CPlot::loadMeshFile(char* filename){xscale = 1.0; yscale = 1.0; zscale = 1.0;transX = 0.0; transY = 0.0;faceColors.clear();mesh->LoadFromFile(filename);mesh->calFaceNormal();mesh->calVertexNormal();int fCount = mesh->getFCount();char buf[255];sprintf(buf, "%s", filename);int len = strlen(buf);buf[len-1] = 'f'; buf[len-2] = 'd'; buf[len-3] = 's';FILE *fp = NULL;}void CPlotMark005(){}//初始化坐标系，画出世界坐标系、标志BOX、Box坐标系！void CPlot::createActions(){loadFileAction    = new QAction(tr("&Load"), this);closeFileAction   = new QAction(tr("&Close"), this);segmentObjAction  = new QAction(tr("&Segment"), this);captureAction     = new QAction(tr("Capture") , this);connect(loadFileAction, SIGNAL(triggered()), this, SLOT(openFile()));connect(closeFileAction, SIGNAL(triggered()), this, SLOT(close()));connect(segmentObjAction, SIGNAL(triggered()), this, SLOT(segmentObj()));connect(captureAction, SIGNAL(triggered()), this, SLOT(capture()));}void CPlot::createMenus(){fileMenu = menuBar()->addMenu(tr("&File"));fileMenu->addAction(loadFileAction);fileMenu->addAction(closeFileAction);fileMenu->addAction(captureAction);toolMenu = menuBar()->addMenu(tr("&Tool"));toolMenu->addAction(segmentObjAction);toolMenu->addAction(captureAction);}void CPlot::createToolBars(){fileToolBar = addToolBar(tr("&File"));fileToolBar->addAction(loadFileAction);fileToolBar->addAction(closeFileAction);toolsBar = addToolBar(tr("Tool"));toolsBar->addAction(segmentObjAction);}void CPlot::openFile(){QString filename = QFileDialog::getOpenFileName(this, tr("Load a Shape"), ".", tr("Object Model (*.obj *.off)"));this->openglViewer->loadMeshFile(filename.toLatin1().data());this->openglViewer->updateGL();}void CPlot::segmentObj(){}//进行数据读入void CPlot::capture(){//////////////////////////////////////////////////////////////////////////// Do what you want// example// you can call openglViewer->updatePos(const Mat& rMat) function to show your Sensorfunsion// result, note that once you call this function, you can just call openglViewer->updateGL()// the re-paint the GL// like:char buffer[255];//ifstream pfile("/home/hll260/aiglass/proj/firefly-3288/1.txt");fstream pfile;pfile.open("D://SensorFusionVector//1030.txt");fstream outfile,outfile2;outfile.open("D://SensorFusionVector//2.txt");outfile2.open("D://SensorFusionVector//1103.txt");if(!pfile){  printf("Can not open file!!"); _exit(1);}long long sp = pfile.tellg();while(sp <= 207){pfile.seekg(0,ios::end);sp = pfile.tellg();cout << sp << endl;}float ax,ay,az,gx,gy,gz;char testgy[10];char *gyy="Gyro";char testac[10];char *acc="Acce";SensorFusion sf;int bbbb=1;vector <float> gyro(3,0);vector <float> accel(3,0);long long lastsp=0;pfile.seekg(lastsp);for(int i=1;i<=10;i++){pfile.getline(buffer,100);}lastsp = pfile.tellg();char buffer1[50];char buffer2[50];long linep=0;while (1)//!pfile.eof(){pfile.seekg(0,ios::end);pfile.clear();sp = pfile.tellg();if (linep==0)pfile.seekg(lastsp);elsepfile.seekg(linep);//cout <<sp<<"  "<<lastsp<<endl;if (sp>lastsp){lastsp=sp;while(linep+144<sp){pfile.getline(buffer1,40);sscanf (buffer1,"%4s,%f,%f,%f",testac,&ax,&ay,&az);pfile.getline(buffer2,40);sscanf (buffer2,"%4s,%f,%f,%f",testgy,&gx,&gy,&gz);linep = pfile.tellg();if(strcmp(testac, acc) == 0&&strcmp(testac, testgy) == 0){pfile.getline(buffer2,40);sscanf (buffer2,"%4s,%f,%f,%f",testgy,&gx,&gy,&gz);linep = pfile.tellg();if(strcmp(testac, acc) == 0){accel.push_back(ax);accel.push_back(ay);accel.push_back(az);for (int i=0;i<3;i++){accel.erase(accel.begin());}}if (strcmp(testgy, gyy) == 0){  gyro.push_back(gx);gyro.push_back(gy);gyro.push_back(gz);for (int i=0;i<3;i++){gyro.erase(gyro.begin());}}}else{if(strcmp(testac, acc) == 0){accel.push_back(ax);accel.push_back(ay);accel.push_back(az);for (int i=0;i<3;i++){accel.erase(accel.begin());}}if (strcmp(testgy, gyy) == 0){  gyro.push_back(gx);gyro.push_back(gy);gyro.push_back(gz);for (int i=0;i<3;i++){gyro.erase(gyro.begin());}}}sf.SensorPretreatment(gyro);sf.handlemessage(accel,gyro,0.001);Mat rMat(1,3,CV_32F);//弧度 转角度rMat.at<float>(0,0) = -sf.jiaodu[1]*57.3;if (sf.jiaodu[0]<0)rMat.at<float>(0,1) = 360-sf.jiaodu[0]*57.3;elserMat.at<float>(0,1) = sf.jiaodu[0]*57.3;if(sf.jiaodu[2]<0)rMat.at<float>(0,2) = sf.jiaodu[2]*57.3;elserMat.at<float>(0,2) = sf.jiaodu[2]*57.3;//传入三维坐标参数为绝对位置（相对于原点）rMat.at<float>(0,3) = sf.LocX;rMat.at<float>(0,4) = sf.LocY;rMat.at<float>(0,5) = sf.LocZ;openglViewer->updatePos(rMat);openglViewer->updateGL();outfile<<sf.jiaodu[0]*57.3<<" "<<sf.jiaodu[1]*57.3<<" "<<sf.jiaodu[2]*57.3<<endl;cout<<sf.jiaodu[0]*57.3<<" "<<sf.jiaodu[1]*57.3<<" "<<sf.jiaodu[2]*57.3<<" "<<gyro.size()<<endl;outfile2<<double(accel[0])<<" "<<double(accel[1])<<" "<<double(accel[2])<<endl;outfile2<<double(gyro[0])<<" "<<double(gyro[1])<<" "<<double(gyro[2])<<endl;outfile2<<"sp:"<<sp<<"    linep:"<<linep<<endl;}}else{   continue;}}outfile.close();outfile2.close();pfile.close();}

还有一些其他的程序段，等整理好之后再进行上传....................