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_OBJECT

public:

	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;

	else

		rMat.at<float>(0,1) = 1;

	if(1<0)

		rMat.at<float>(0,2) = 1;

	else

		rMat.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  arrows

	glPushMatrix();

	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 arrow

	glPushMatrix();

	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.f

			GLfloat 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-axis

			glVertex3f( -100.0f, 0.0f, 0.0f);

			glVertex3f( 100.0f, 0.0f, 0.0f);

			// x-axis arrow

			glVertex3f( 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-axis

			glVertex3f( 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 zero

	if(h == 0)

		h = 1;

	// Set Viewport to window dimensions

	glViewport(0, 0, w, h);

	// Reset projection matrix stack

	glMatrixMode(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);

	else

		glOrtho (-nRange*w/h, nRange*w/h, -nRange, nRange, -nRange, nRange);

	// Reset Model view matrix stack

	glMatrixMode(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);

		else

			pfile.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;

				else

					rMat.at<float>(0,1) = sf.jiaodu[0]*57.3;

				if(sf.jiaodu[2]<0)

					rMat.at<float>(0,2) = sf.jiaodu[2]*57.3;

				else

					rMat.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....................

QT显示框架嵌入Vs控制台工程的更多相关文章

QT皮肤框架－TQUI
本皮肤框架的相关文档,请在附件中下载,包括测试程序源码,帮助文档.相关文档可到我的百度网盘中下载,或者在本贴附件中下载. 百度网盘地址:TQUI-V1.0项目说明及测试程序源码项目更新说明:---- ...
Qt显示调用vs中的dll
网上看到很多文章写调用vc的dll,但我尝试了总是出问题,下面结合参考别人的文章,实现了Qt显示调用vs中c接口的dll. 具体直接上代码: vs中的代码: TMax.h: #ifdef TMAX # ...
QT显示url图片
QT 显示网络图片我目前的办法就是先下载下来然后显示如果有好的办法请相互交流一下需要调用的头文件 #include <QNetworkAccessManager> #include ...
Qt状态机框架（状态机就开始异步的运行了，也就是说，它成为了我们应用程序事件循环的一部分了）
状态机框架 Qt中的状态机框架为我们提供了很多的API和类,使我们能更容易的在自己的应用程序中集成状态动画.这个框架是和Qt的元对象系统机密结合在一起的.比如,各个状态之间的转换是通过信号触发的,状态 ...
基于OpenCV之视频读取,处理和显示框架的搭建(一)
主要包括以下内容: 1.使用的主要函数的说明. 2.两个实例:视频读取和显示.搭建视频读取和处理框架,调用canny函数提取边缘并显示. 3.一些注意事项和代码说明. 一.使用的主要函数 1.延时函数 ...
15、USB摄像头图片采集+QT显示
一.Qt的下载和的安装关于Qt的安装,网络上有很详细的介绍.这里只做简单介绍. 需要的安装包一共有两个:Qt Creator 和QTE. 1)QT Creator 下载地址:qt-sdk-linux ...
Qt 显示网页的控件
Qt5.6以下的版本,基于QtWebkit控件Qt5.6以上的MSVC版本,基于 Chromium 的浏览器引擎 Qt WebEngineQt5.6以上的mingw 版本,只能采用QAxWidget ...
Qt 状态机框架学习（没学会）
Qt状态机框架是基于状态图XML(SCXML) 实现的.从Qt4.6开始,它已经是QtCore模块的一部分.尽管它本身是蛮复杂的一套东西,但经过和Qt的事件系统(event system).信号槽(s ...
QT显示机制（7篇相关文章）
了解QT显示机制,最重要的就是要了解QT是如何管理窗体的显示区域的,这里有个重要的类:QRegion, 在QT中可以通过QRegion定义一个窗体的显示区域,也可以通过QRegion定义窗体的可修改区 ...

随机推荐

PAT 1098. Insertion or Heap Sort
According to Wikipedia: Insertion sort iterates, consuming one input element each repetition, and gr ...
6.3.1 使用 pickle 模块读写二进制文件
Python 标准库 pickle 提供的 dump() 方法用于将数据进行序列化并写入文件(dump() 方法的protocol 参数为True 时可以实现压缩的效果),而load() 用于读取二 ...
『REM』手机屏幕适配
function adapt(designWidth, rem2px){ var d = window.document.createElement('div'); d.style.width = ' ...
【codeforces 767A】Snacktower
[题目链接]:http://codeforces.com/contest/767/problem/A [题意] 每天掉一个盘子下来;盘子有大小从1..n依次增大n个盘子; 然后让你叠盘子; 最底层为n ...
hdu 4707 bellman
最短路的优先队列做法: #include<stdio.h> #include<queue> #include<string.h> #define N 100010 ...
[Cogs727] [网络流24题#2] 太空飞行计划 [网络流，最小割]
建图:源点—(w[i])—>实验—(∞)—>仪器—(cost[i])—>汇点, 如果该实验造成收益,则仪器到汇点的边在最小割中, 如果该实验造成损失,则源点到实验的边在最小割中, 故 ...
Blue Jeans POJ 3080 寻找多个串的最长相同子串
Description The Genographic Project is a research partnership between IBM and The National Geographi ...
awr ash addm
awr ash addm awr addm :基于快照的ash :单独,每秒采样 dbtime=db cpu + wait 柜员忙碌的时间=A做业务的时间+B做业务的时间等待时间=B等待A做业务的时间 ...
Flume 读取JMS 消息队列消息，并将消息写入HDFS
利用Apache Flume 读取JMS 消息队列消息.并将消息写入HDFS,flume agent配置例如以下: flume-agent.conf #name the components on ...
USACO money packageDP
裸0/1背包,就是从各种币种里面拿来凑足N元,求最多有多种方案.用dp[i][j]表示选前i个币种凑成j的方案数量状态转移方程: dp[i][j] = dp[i- 1][j] j < c ...

QT显示框架嵌入Vs控制台工程

QT显示框架嵌入Vs控制台工程的更多相关文章

随机推荐

热门专题