OpenCV

开发平台：
Visual C++

OpenGL.cpp：源码内容
							
#include "stdafx.h"
#include "OpenGL.h"
//////////////////////////////////////////////////////////////////////
extern HWND	hWnd;
const float pi = 3.1415926f;
GLUquadricObj* quadric=NULL;
//////////////////////////////////////////////////////////////////////
OpenGL::OpenGL()
{
	x_arc = 0;
	y_arc = 0;
	z_arc = 0;
}
OpenGL::~OpenGL()
{	CleanUp();
}
BOOL OpenGL::SetupPixelFormat(HDC hDC0)//检测安装OpenGL
{	int nPixelFormat;					  // 象素点格式
	hDC=hDC0;
	PIXELFORMATDESCRIPTOR pfd = { 
	    sizeof(PIXELFORMATDESCRIPTOR),    // pfd结构的大小 
	    1,                                // 版本号 
	    PFD_DRAW_TO_WINDOW |              // 支持在窗口中绘图 
	    PFD_SUPPORT_OPENGL |              // 支持 OpenGL 
	    PFD_DOUBLEBUFFER,                 // 双缓存模式 
	    PFD_TYPE_RGBA,                    // RGBA 颜色模式 
	    16,                               // 24 位颜色深度 
	    0, 0, 0, 0, 0, 0,                 // 忽略颜色位 
	    0,                                // 没有非透明度缓存 
	    0,                                // 忽略移位位 
	    0,                                // 无累加缓存 
	    0, 0, 0, 0,                       // 忽略累加位 
	    16,                               // 32 位深度缓存     
	    0,                                // 无模板缓存 
	    0,                                // 无辅助缓存 
	    PFD_MAIN_PLANE,                   // 主层 
	    0,                                // 保留 
	    0, 0, 0                           // 忽略层,可见性和损毁掩模 
	}; 
	if (!(nPixelFormat = ChoosePixelFormat(hDC, &pfd)))
		{ MessageBox(NULL,"没找到合适的显示模式","Error",MB_OK|MB_ICONEXCLAMATION);
	      return FALSE;
		}
	SetPixelFormat(hDC,nPixelFormat,&pfd);//设置当前设备的像素点格式
	hRC = wglCreateContext(hDC);          //获取渲染描述句柄
	wglMakeCurrent(hDC, hRC);             //激活渲染描述句柄
	return TRUE;
}
void OpenGL::init(int Width, int Height)
{	glViewport(0,0,Width,Height);			// 设置OpenGL视口大小。	
	glMatrixMode(GL_PROJECTION);			// 设置当前矩阵为投影矩阵。
	glLoadIdentity();						// 重置当前指定的矩阵为单位矩阵
	/*
	gluPerspective							// 设置透视图
		( 54.0f,							// 透视角设置为 45 度
		  (GLfloat)Width/(GLfloat)Height,	// 窗口的宽与高比
		  0.1f,								// 视野透视深度:近点1.0f
		  3000.0f							// 视野透视深度:始点0.1f远点1000.0f
		);
	*/
	glOrtho(-3.0, 3.0, -3.0, 3.0,-3.0,3.0); 
	// 这和照象机很类似，第一个参数设置镜头广角度，第二个参数是长宽比，后面是远近剪切。
	glMatrixMode(GL_MODELVIEW);				// 设置当前矩阵为模型视图矩阵
	glLoadIdentity();						// 重置当前指定的矩阵为单位矩阵
//====================================================
	GLfloat light_position[] = { 1.0, 1.0, 1.0, 0.0 };
	glLightfv(GL_LIGHT0, GL_POSITION, light_position);
	glEnable(GL_LIGHTING);
	glEnable(GL_LIGHT0);
	glDepthFunc(GL_LESS);
	glEnable(GL_DEPTH_TEST);
	glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);
	glEnable(GL_COLOR_MATERIAL);
}
void OpenGL::Render()//OpenGL图形处理
{	
	glClearColor(0.0f, 0.0f, 0.3f, 1.0f);			 // 设置刷新背景色
	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);// 刷新背景
	glLoadIdentity();								 // 重置当前的模型观察矩阵
	Vector3f vVector1, vVector2;
	vVector1.x = 200;
	vVector1.y = 200;
	vVector1.z = 200;
	vVector2.x = 0;
	vVector2.y = 0;
	vVector2.z = 0;
	draw2point(vVector1,vVector2);
	vVector2.x = 440;
	vVector2.y = 440;
	vVector2.z = 440;
	draw2point(vVector1,vVector2);
	glFlush();										 // 更新窗口
	SwapBuffers(hDC);								 // 切换缓冲区
}
void OpenGL::CleanUp()//清除OpenGL
{
	 wglMakeCurrent(hDC, NULL);                       //清除OpenGL
	 wglDeleteContext(hRC);                           //清除OpenGL
}
int OpenGL::Init()
{return 0;}
void OpenGL::display()
{	
	glFlush();
	SwapBuffers(hDC);								 // 切换缓冲区
}
void OpenGL::draw2point(Vector3f vVector1, Vector3f vVector2)
{
	float Zoom = 100;
	//printf("before unproject: %f,%f,%f n",vVector1.x,vVector1.y,vVector1.z);
	//printf("before unproject: %f,%f,%f n",vVector2.x,vVector2.y,vVector2.z);
	//printf("after  unproject: %f,%f,%f nn",xx,yy,zz);
	
	//需要考虑float 越界问题
	Vector3f *vt1 = new Vector3f(vVector1.x/Zoom,vVector1.y/Zoom,vVector1.z/Zoom);
	Vector3f *vt2 = new Vector3f(vVector2.x/Zoom,vVector2.y/Zoom,vVector2.z/Zoom);
	Vector3f vt4 = *vt2-*vt1;
	Vector3f *vty = new Vector3f(0,0,1);
	
	double arc12 = AngleBetweenVectors(*vty,vt4);
	double rarc12 = 180 + 180*arc12/pi;
	float len= Distance(*vt1,*vt2);
	Vector3f vt3 = Cross(*vty,vt4);
	glPushMatrix();	
	glTranslatef (vt1->x,vt1->y,vt1->z);
	glColor3f(1.0f,0.5f,0.7f); 
	auxSolidSphere(0.09);
	glTranslatef (vt4.x,vt4.y,vt4.z);
	auxSolidSphere(0.09);	
	glColor3f(1.0f,1.0f,0.7f);
	glRotatef ((float)rarc12,vt3.x,vt3.y,vt3.z);
	gluCylinder(quadric,0.06,0.06,len,35,35);
	glPopMatrix();
	delete vt1;
	delete vt2;
	delete vty;
}
void OpenGL::clear()
{
	glClearColor(0.0f, 0.0f, 0.3f, 1.0f);			 // 设置刷新背景色
	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);// 刷新背景
	glLoadIdentity();
	if(!quadric)
	{
		quadric=gluNewQuadric();
		gluQuadricNormals(quadric,GLU_SMOOTH);
		gluQuadricTexture(quadric,GL_TRUE);
	}
	//gluCylinder(quadric,0.06,0.06,0.9,35,35);
	glRotatef (25.0,1.0,1.0,0.0);
	glRotatef ((float)x_arc,1.0,0.0,0.0);
	glRotatef ((float)y_arc,0.0,1.0,0.0);
	glRotatef ((float)z_arc,0.0,0.0,1.0);
	draw_ground();
	
}
//将骨架旋转到y轴上来
int OpenGL::Correct_3D_Layout(Vector3f vVector1, Vector3f vVector2)
{
	Vector3f vt4 = vVector2-vVector1;
	Vector3f *vty = new Vector3f(0,1,0);	
	double arc12 = AngleBetweenVectors(*vty,vt4);
	double rarc12 = 180*arc12/pi;
	Vector3f vt3 = Cross(*vty,vt4);
	glRotatef ((float)rarc12,vt3.x,vt3.y,vt3.z);
	delete vty;
	return 0;
}
void OpenGL::draw_ground()
{
  glPushAttrib(GL_CURRENT_BIT);
  glEnable(GL_BLEND);
  glPushMatrix();
  glColor3f(0.5f, 0.7f, 1.0f);
  glTranslatef(0,0.0f,0);
  float size0=2;
  glBegin(GL_LINES);
	for (float x = -size0; x < size0;x+=0.5f)
		{glVertex3f(x, -1.5, -size0); glVertex3f(x, -1.5,  size0);}
	for (float z = -size0; z < size0;z+=0.3f)
		{glVertex3f(-size0, -1.5, z); glVertex3f( size0, -1.5, z);}
  glEnd();
  glPopMatrix();
  glDisable(GL_BLEND);
  glPopAttrib();
}

						