Question

我是visual studio的新手。我创建了一个简单的控制台应用程序，然后选择了一个c ++的空项目。然后粘贴以下代码

#include "stdafx.h"
#include <cstdio>
#include <iostream>
#include <fstream>
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <vector>
#include "GL/glut.h"      
#include "GL/glu.h"    
#include "GL/gl.h"   
#include <math.h>
#include <time.h>

using namespace std;
using namespace cv;

const float zNear = 0.05;
const float zFar = 500.0;
int width, height;
int draw = 0;
Point FIX_X(0, 0), FIX_Y(0, 0), FIX_Z(0, 0);
float skew_x, skew_y, skew_z;
VideoCapture cap(0);
Mat tmp, test;
Mat intrinsic_Matrix(3, 3, CV_64F);
Mat distortion_coeffs(8, 1, CV_64F);
Mat Projection(4, 4, CV_64FC1);
double largest_area;
int largest_contour_index;
int n = 0;
int no_of_fingers = 0;
vector<vector<pair<float, Point>>> position;
vector<int> finger_count;
Point first, second, third;
float size_of_pot = 10;
int rot_angle = 10;

float distanceP2P(Point a, Point b) {
    float d = sqrt(fabs(pow(a.x - b.x, 2) + pow(a.y - b.y, 2)));
    return d;
}
float getAngle(Point s, Point f, Point e) {
    float l1 = distanceP2P(f, s);
    float l2 = distanceP2P(f, e);
    float dot = (s.x - f.x)*(e.x - f.x) + (s.y - f.y)*(e.y - f.y);
    float angle = acos(dot / (l1*l2));
    angle = angle * 180 / 3.147;
    return angle;
}


String intToString(int number) {
    stringstream ss;
    ss << number;
    string str = ss.str();
    return str;
}

bool pairCompare(const pair<float, Point>&i, const pair<float, Point>&j) {
    return i.first <j.first;

}

GLfloat* convertMatrixType(const cv::Mat& m)
{
    typedef double precision;

    Size s = m.size();
    GLfloat* mGL = new GLfloat[s.width*s.height];

    for (int ix = 0; ix < s.width; ix++)
    {
        for (int iy = 0; iy < s.height; iy++)
        {
            mGL[ix*s.height + iy] = m.at<precision>(iy, ix);
        }
    }

    return mGL;
}

void generateProjectionModelview(const cv::Mat& calibration, const cv::Mat& rotation, const cv::Mat& translation, cv::Mat& projection, cv::Mat& modelview)
{
    typedef double precision;

    projection.at<precision>(0, 0) = 2 * calibration.at<precision>(0, 0) / width;
    projection.at<precision>(1, 0) = 0;
    projection.at<precision>(2, 0) = 0;
    projection.at<precision>(3, 0) = 0;

    projection.at<precision>(0, 1) = 0;
    projection.at<precision>(1, 1) = 2 * calibration.at<precision>(1, 1) / height;
    projection.at<precision>(2, 1) = 0;
    projection.at<precision>(3, 1) = 0;

    projection.at<precision>(0, 2) = 1 - 2 * calibration.at<precision>(0, 2) / width;
    projection.at<precision>(1, 2) = -1 + (2 * calibration.at<precision>(1, 2) + 2) / height;
    projection.at<precision>(2, 2) = (zNear + zFar) / (zNear - zFar);
    projection.at<precision>(3, 2) = -1;

    projection.at<precision>(0, 3) = 0;
    projection.at<precision>(1, 3) = 0;
    projection.at<precision>(2, 3) = 2 * zNear*zFar / (zNear - zFar);
    projection.at<precision>(3, 3) = 0;


    modelview.at<precision>(0, 0) = rotation.at<precision>(0, 0);
    modelview.at<precision>(1, 0) = rotation.at<precision>(1, 0);
    modelview.at<precision>(2, 0) = rotation.at<precision>(2, 0);
    modelview.at<precision>(3, 0) = 0;

    modelview.at<precision>(0, 1) = rotation.at<precision>(0, 1);
    modelview.at<precision>(1, 1) = rotation.at<precision>(1, 1);
    modelview.at<precision>(2, 1) = rotation.at<precision>(2, 1);
    modelview.at<precision>(3, 1) = 0;

    modelview.at<precision>(0, 2) = rotation.at<precision>(0, 2);
    modelview.at<precision>(1, 2) = rotation.at<precision>(1, 2);
    modelview.at<precision>(2, 2) = rotation.at<precision>(2, 2);
    modelview.at<precision>(3, 2) = 0;

    modelview.at<precision>(0, 3) = translation.at<precision>(0, 0);
    modelview.at<precision>(1, 3) = translation.at<precision>(1, 0);
    modelview.at<precision>(2, 3) = translation.at<precision>(2, 0);
    modelview.at<precision>(3, 3) = 1;

    // This matrix corresponds to the change of coordinate systems.
    static double changeCoordArray[4][4] = { { 1, 0, 0, 0 },{ 0, -1, 0, 0 },{ 0, 0, -1, 0 },{ 0, 0, 0, 1 } };
    static Mat changeCoord(4, 4, CV_64FC1, changeCoordArray);

    modelview = changeCoord*modelview;
}


void calibrate(Mat &intrinsic_Matrix, Mat &distortion_coeffs)
{

    vector< vector< Point2f> > AllimagePoints;
    vector< vector< Point3f> > AllobjectPoints;
    char str[100];
    stringstream st;
    int no_of_images = 1;
    Size imagesize;
    Mat gray;
    while (no_of_images <= 14)
    {
        st << "E:/SelectedImages/Selected" << ++no_of_images << ".jpg";
        String strcopy3 = st.str();
        st.str("");
        Mat img = imread(strcopy3, 1);
        if (!img.data)
            break;
        imagesize = Size(img.rows, img.cols);
        cvtColor(img, gray, CV_RGB2GRAY);
        vector< Point2f> corners;
        bool sCorner = false;
        sCorner = findChessboardCorners(gray, Size(7, 7), corners);
        if (sCorner)
        {

            cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
            drawChessboardCorners(img, Size(7, 7), corners, sCorner);
            if (corners.size() == 7 * 7)
            {
                vector< Point2f> v_tImgPT;
                vector< Point3f> v_tObjPT;
                for (int j = 0; j< corners.size(); ++j)
                {
                    Point2f tImgPT;
                    Point3f tObjPT;

                    tImgPT.x = corners[j].x;
                    tImgPT.y = corners[j].y;

                    tObjPT.x = j % 7 * 3;
                    tObjPT.y = j / 7 * 3;
                    tObjPT.z = 0;

                    v_tImgPT.push_back(tImgPT);
                    v_tObjPT.push_back(tObjPT);
                }
                AllimagePoints.push_back(v_tImgPT);
                AllobjectPoints.push_back(v_tObjPT);
            }

        }
        st << "E:/DetectedImages/Detected" << no_of_images + 1 << ".jpg";
        String strcopy1 = st.str();
        st.str("");
        imwrite(strcopy1, img);
        //imshow("pattern",img);
        //cvWaitKey(30);
    }
    vector< Mat> rvecs, tvecs;
    if (AllimagePoints.size()>0)
    {
        calibrateCamera(AllobjectPoints, AllimagePoints, imagesize, intrinsic_Matrix, distortion_coeffs, rvecs, tvecs);
    }

}


void renderBackgroundGL(const cv::Mat& image)
{

    GLint polygonMode[2];
    glGetIntegerv(GL_POLYGON_MODE, polygonMode);
    glPolygonMode(GL_FRONT, GL_FILL);
    glPolygonMode(GL_BACK, GL_FILL);


    glLoadIdentity();
    gluOrtho2D(0.0, 1.0, 0.0, 1.0);

    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();


    static bool textureGenerated = false;
    static GLuint textureId;
    if (!textureGenerated)
    {
        glGenTextures(1, &textureId);

        glBindTexture(GL_TEXTURE_2D, textureId);
        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);

        textureGenerated = true;
    }

    // Copy the image to the texture.
    glBindTexture(GL_TEXTURE_2D, textureId);
    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, image.size().width, image.size().height, 0, GL_BGR_EXT, GL_UNSIGNED_BYTE, image.data);

    // Draw the image.
    glEnable(GL_TEXTURE_2D);
    glBegin(GL_TRIANGLES);
    glNormal3f(0.0, 0.0, 1.0);

    glTexCoord2f(0.0, 1.0);
    glVertex3f(0.0, 0.0, 0.0);
    glTexCoord2f(0.0, 0.0);
    glVertex3f(0.0, 1.0, 0.0);
    glTexCoord2f(1.0, 1.0);
    glVertex3f(1.0, 0.0, 0.0);

    glTexCoord2f(1.0, 1.0);
    glVertex3f(1.0, 0.0, 0.0);
    glTexCoord2f(0.0, 0.0);
    glVertex3f(0.0, 1.0, 0.0);
    glTexCoord2f(1.0, 0.0);
    glVertex3f(1.0, 1.0, 0.0);
    glEnd();
    glDisable(GL_TEXTURE_2D);

    // Clear the depth buffer so the texture forms the background.
    glClear(GL_DEPTH_BUFFER_BIT);

    // Restore the polygon mode state.
    glPolygonMode(GL_FRONT, polygonMode[0]);
    glPolygonMode(GL_BACK, polygonMode[1]);
}




void display(void)
{
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    namedWindow("live", 1);
    Mat gray1, test, modelview, dis_img, thresh, img1;

    Mat rvec(3, 1, DataType<double>::type);
    Mat tvec(3, 1, DataType<double>::type);

    modelview.create(4, 4, CV_64FC1);
    //Projection.create(4, 4, CV_64FC1);

    vector< Point2f> corners1;
    vector< Point2f> imagePoints1;
    vector< Point3f> objectPoints1;
    largest_area = 0;
    largest_contour_index = 0;

    clock_t clock_1 = clock();
    cap >> dis_img;
    //resize(dis_img,dis_img,Size(180,180),0,0);
    if (!dis_img.data)
    {
        exit(3);
    }
    img1 = dis_img.clone();
    dis_img.copyTo(img1);
    //resize(img1,img1,Size(180,180),0,0);
    cvtColor(dis_img, dis_img, COLOR_BGR2YCrCb);
    inRange(dis_img, Scalar(0, 133, 77), Scalar(255, 173, 127), thresh);
    clock_t clock_2 = clock();
    cout << "threshold(Skin Color Segmentation) time is :" << (double)(clock_2 - clock_1) << endl;
    dilate(thresh, thresh, Mat());
    blur(thresh, thresh, Size(5, 5), Point(-1, -1), BORDER_DEFAULT);
    vector<vector<Point>> contours;
    vector<Point> FingerTips;
    vector<Vec4i> hierachy;
    vector<Vec4i> defects;
    vector<Point> defect_circle;
    vector<vector<Point>> hull(1);
    Point2f  center;
    float radius;
    clock_t clock_3 = clock();
    cout << "image filtering (smoothing) time is :" << (double)(clock_3 - clock_2) << endl;


    findContours(thresh, contours, hierachy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
    //cout<<"contour"<<endl; 
    int cont_size = contours.size();
    for (int i = 0; i<cont_size; i++)
    {
        double a = contourArea(contours[i], false);
        if (a>largest_area)
        {
            largest_area = a;
            largest_contour_index = i;
        }
    }

    vector<int> hull_index;
    Rect brect;

    if (largest_area>0 && contours[largest_contour_index].size()>5)
    {

        approxPolyDP(contours[largest_contour_index], contours[largest_contour_index], 8, true);
        //cout<<"approx_poly"<<endl;
        convexHull(Mat(contours[largest_contour_index]), hull[0], false, true);
        //  cout<<"convex_hull"<<endl;
        brect = boundingRect(contours[largest_contour_index]);
        //cout<<"bounding_rect"<<endl;
        convexHull(Mat(contours[largest_contour_index]), hull_index, true);
        //cout<<"convex_hull2"<<endl;
        convexityDefects(contours[largest_contour_index], hull_index, defects);
        //cout<<"convexity defect"<<endl;
        // Mom ents mom=moments(contours[largest_contour_index]);
        // draw mass center
        //  circle(img,Point(mom.m10/mom.m00,mom.m01/mom.m00),2,cv::Scalar(0),2);


        Scalar colorw = Scalar(0, 255, 0);
        Scalar color1 = Scalar(0, 0, 255);
        //drawContours(img,contours,largest_contour_index,color,2, 8, hierachy);
        //drawContours(timg,contours,largest_contour_index,color,1, 8, hierachy);
        //drawContours(timg, hull, 0, color1, 1, 8, vector<Vec4i>(), 0, Point() );
        //  drawContours(img, hull, 0, color1, 2, 8, vector<Vec4i>(), 0, Point() );
        int defc_size = defects.size();

        Point ptStart;
        Point ptEnd;
        Point ptStart2;
        Point ptEnd2;
        Point ptFar;
        int count = 1;
        int startidx2;
        int endidx2;
        int tolerance = brect.height / 5;
        float angleTol = 95;
        for (int in = 0; in<defc_size; in++)
        {
            //Vec4i& v=(*d); d++;
            int startidx = defects[in].val[0]; ptStart = contours[largest_contour_index].at(startidx);
            int endidx = defects[in].val[1]; ptEnd = contours[largest_contour_index].at(endidx);
            int faridx = defects[in].val[2];  ptFar = contours[largest_contour_index].at(faridx);
            if (in + 1<defc_size)
                startidx2 = defects[in + 1].val[0]; ptStart = contours[largest_contour_index].at(startidx);
            endidx2 = defects[in + 1].val[1]; ptEnd = contours[largest_contour_index].at(endidx);

            if (distanceP2P(ptStart, ptFar) > tolerance && distanceP2P(ptEnd, ptFar) > tolerance && getAngle(ptStart, ptFar, ptEnd) < angleTol) {
                {
                    if (in + 1<defc_size)
                    {
                        if (distanceP2P(ptStart, ptEnd2) < tolerance)
                            contours[largest_contour_index][startidx] = ptEnd2;
                        else {
                            if (distanceP2P(ptEnd, ptStart2) < tolerance)
                                contours[largest_contour_index][startidx2] = ptEnd;

                        }
                    }
                    defect_circle.push_back(ptFar);
                    //  cout<<"ptfar"<<ptFar.x<<"&&"<<ptFar.y<<endl;

                    if (count == 1)
                    {
                        FingerTips.push_back(ptStart);
                        cv::circle(img1, ptStart, 2, Scalar(0, 255, 0), 2);
                        putText(img1, intToString(count), ptStart - Point(0, 30), FONT_HERSHEY_PLAIN, 1.2f, Scalar(255, 0, 0), 2);
                    }
                    FingerTips.push_back(ptEnd);
                    count++;
                    putText(img1, intToString(count), ptEnd - Point(0, 30), FONT_HERSHEY_PLAIN, 1.2f, Scalar(255, 0, 0), 2);
                    cv::circle(img1, ptEnd, 2, Scalar(0, 255, 0), 2);
                    //cv::circle( img, ptFar,   2, Scalar(255,255,255 ), 2 );

                }
            }
        }
        //  circle(img, ptStart,2,Scalar(0xFF,0x60,0x02 ), 2, 8, 0 );

        //cv::circle( img, ptEnd,   4, Scalar( 0xFF,0x60,0x02 ), 2 );
        clock_t clock_4 = clock();
        cout << "fingerTip detection  time is :" << (double)(clock_4 - clock_3) << endl;

        //  cout<<"hii"<<endl;
        bool two_fn = false;
        bool five_fn = false;

        if (defect_circle.size() == 1)
        {
            two_fn = true;
            Point fn = FingerTips.back();
            FingerTips.pop_back();
            Point ln = FingerTips.back();
            FingerTips.pop_back();
            Point defect_point = defect_circle.back();
            float curr = getAngle(fn, defect_point, ln);
            curr = curr / 10;
            curr = 10 - curr;
            renderBackgroundGL(img1);
            objectPoints1.push_back(Point3d(9, 6, 0));
            imagePoints1.push_back(defect_point);

            objectPoints1.push_back(Point3d(9, 6, 0));
            imagePoints1.push_back(defect_point);



            objectPoints1.push_back(Point3d(19, 6, 0));
            imagePoints1.push_back(fn);

            objectPoints1.push_back(Point3d(9, 18, 0));
            imagePoints1.push_back(ln);


            // cout<<width<<"  &"<<height<<endl;
            //  cout<<"solvepnp"<<endl; 
            solvePnP(Mat(objectPoints1), Mat(imagePoints1), intrinsic_Matrix, distortion_coeffs, rvec, tvec);



            cv::Mat rotation;
            cv::Rodrigues(rvec, rotation);
            double offsetA[3][1] = { 9,6,6 };
            Mat offset(3, 1, CV_64FC1, offsetA);
            tvec = tvec + rotation*offset;


            generateProjectionModelview(intrinsic_Matrix, rotation, tvec, Projection, modelview);
            glMatrixMode(GL_PROJECTION);
            GLfloat* projection = convertMatrixType(Projection);
            glLoadMatrixf(projection);
            delete[] projection;

            glMatrixMode(GL_MODELVIEW);
            GLfloat* modelView = convertMatrixType(modelview);
            glLoadMatrixf(modelView);
            delete[] modelView;

            //glTranslatef(0.0f,0.0f,-5.0f);
            glPushMatrix();
            glColor3f(1.0, 0.0, 0.0);

            glutWireTeapot(10.0 / curr);
            glPopMatrix();
            glColor3f(1.0, 1.0, 1.0);

        }
        //Rotation Module
        if (defect_circle.size() == 4)
        {

            five_fn = true;
            minEnclosingCircle(defect_circle, center, radius);
            //circle(img, center, (int)radius,Scalar(255,255,255), 2, 8, 0 );
            circle(img1, center, 2, Scalar(0), 2, 8, 0);

            vector<pair<float, Point>> pos;
            for (int in = 0; in<FingerTips.size(); in++)
            {
                Point p = FingerTips.back();
                FingerTips.pop_back();

                //if(in==0)
                //{
                pos.push_back(make_pair(distanceP2P(center, p), p));
                //position.push_back(pos);
            }
            //  }
            //else
            //  {
            //      cout<<"size is"<<position.size()<<endl;
            //  position[n].push_back(make_pair(distanceP2P(center,p),p));
            //}

            sort(pos.begin(), pos.end(), pairCompare);
            //  vector<pair<float,Point>> now=position[i].back();
            first = pos.back().second;
            pos.pop_back();
            //cout<<"new value :"<<new1.x<<" && "<<new1.y<<endl;
            second = pos.back().second;
            pos.pop_back();
            third = pos.back().second;
            pos.pop_back();

            if (third.y<second.y&&second.y<first.y)
            {
                //  cout<<"vertical pose"<<endl;
                FIX_X.x = center.x + 40;
                FIX_X.y = center.y;

                FIX_Y.x = center.x;
                FIX_Y.y = center.y - 40;
            }
            skew_x = getAngle(first, center, FIX_X);
            skew_y = getAngle(third, center, FIX_Y);
            cout << skew_x << "&" << skew_y << endl;
            if (first.x<img1.cols)
                line(img1, center, first, Scalar(200, 200, 200), 2, 8, 0);
            line(img1, center, FIX_X, Scalar(200, 200, 200), 2, 8, 0);
            if (second.x<img1.cols)
                line(img1, center, second, Scalar(0, 255, 0), 2, 8, 0);
            if (third.x<img1.cols)
                line(img1, center, third, Scalar(0, 0, 255), 2, 8, 0);
            line(img1, center, FIX_Y, Scalar(0, 0, 255), 2, 8, 0);

            //  line(img1,center,first,Scalar(255,255,255),2,8,0);
            //  line(img1,center,second,Scalar(0,255,255),2,8,0);
            //  line(img1,center,third,Scalar(0,0,255),2,8,0);

            renderBackgroundGL(img1);

            /*  cvtColor(test, gray1, CV_RGB2GRAY);
            bool sCorner1=findChessboardCorners(gray1, Size(7, 7), corners1);
            imshow("live",test);
            if(sCorner1)
            {
            cornerSubPix(gray1, corners1, Size(11,11), Size(-1,-1), TermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1));
            if(corners1.size() == 7*7)
            {control pan

            for(int j=0; j< corners1.size(); ++j)
            {
            Point2f tImgPT;
            Point3f tObjPT;

            tImgPT.x = corners1[j].x;
            tImgPT.y = corners1[j].y;

            tObjPT.x = j%7*3;
            tObjPT.y = j/7*3;
            tObjPT.z = 0;
            imagePoints1.push_back(tImgPT);
            objectPoints1.push_back(tObjPT);
            }

            vector<Point2f> projectedPoints;
            vector<Point3f> axis;

            axis.push_back(Point3f(6,0,0));
            axis.push_back(Point3f(0,6,0));
            axis.push_back(Point3f(0,0,6));  */
            objectPoints1.push_back(Point3d(9, 6, 0));
            imagePoints1.push_back(center);

            objectPoints1.push_back(Point3d(9, 18, 0));
            imagePoints1.push_back(first);

            objectPoints1.push_back(Point3d(19, 6, 0));
            imagePoints1.push_back(third);

            objectPoints1.push_back(Point3d(15, 15, 0));
            imagePoints1.push_back(second);


            // cout<<width<<"  &"<<height<<endl;
            //  cout<<"solvepnp"<<endl; 
            solvePnP(Mat(objectPoints1), Mat(imagePoints1), intrinsic_Matrix, distortion_coeffs, rvec, tvec);



            cv::Mat rotation;
            cv::Rodrigues(rvec, rotation);
            double offsetA[3][1] = { 9,6,0 };
            Mat offset(3, 1, CV_64FC1, offsetA);
            tvec = tvec + rotation*offset;


            generateProjectionModelview(intrinsic_Matrix, rotation, tvec, Projection, modelview);

            /*  double offsetA[3][1] = {{(7-1.0)/2.0}, {(7-1.0)/2.0}, {0}};
            Mat offset(3, 1, CV_64FC1, offsetA);
            tvec = tvec + rotation*offset;

            for(unsigned int row=0; row<3; ++row)
            {
            for(unsigned int col=0; col<3; ++col)
            {
            modelview.at<float>(row, col) = rotation.at<float>(row, col);
            cout<<modelview.at<float>(row,col)<<endl;
            }
            modelview.at<float>(row, 3) = tvec.at<float>(row, 0);
            }
            modelview.at<float>(3, 3) = 1.0f;
            cout<<endl;



            static float changeCoordArray[4][4] = {{-1, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 1}};
            static Mat changeCoord(4, 4, CV_64FC1, changeCoordArray);

            modelview = changeCoord*modelview;

            cv::Mat glmodelview = cv::Mat::zeros(4, 4, CV_64F);
            transpose(modelview , glmodelview);
            gluLookAt(0.0,2.0,-50.0,0.0,0.5,0.0,0.0,1.0,0.0);
            /*  glMatrixMode(GL_PROJECTION);
            glLoadIdentity();
            float fx=intrinsic_Matrix.at<float>(0,0);
            float fy=intrinsic_Matrix.at<float>(1,1);
            float cf=(2*atanf(0.5*height/fy)*180/3.14);
            float aspect=(width*fy)/(height*fx);

            //gluPerspective(cf,1.0, zNear, zFar);



            glMatrixMode(GL_MODELVIEW);
            glLoadIdentity();

            glLoadMatrixf(&glmodelview.at<float>(0,0));  */
            glMatrixMode(GL_PROJECTION);
            GLfloat* projection = convertMatrixType(Projection);
            glLoadMatrixf(projection);
            delete[] projection;

            glMatrixMode(GL_MODELVIEW);
            GLfloat* modelView = convertMatrixType(modelview);
            glLoadMatrixf(modelView);
            delete[] modelView;

            //glTranslat ef(0.0f,0.0f,-5.0f);
            glPushMatrix();
            glColor3f(1.0, 0.0, 0.0);
            glRotatef(skew_x, 1.0, 0.0, 0.0);
            glRotatef(skew_y, 0.0, 1.0, 0.0);
            glutWireTeapot(10.0);
            glPopMatrix();
            glColor3f(1.0, 1.0, 1.0);
            clock_t clock_5 = clock();
            cout << "interaction time is :" << (double)(clock_5 - clock_4) << endl;
        }
        imshow("live", img1);
        cout << "----------------------------------------------" << endl;

        glFlush();
        glutSwapBuffers();
    }
    waitKey(27);
    glutPostRedisplay();
}
void reshape(int x, int y)
{
    width = x; height = y;
    glViewport(0, 0, width, height);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    /*Projection.at<float>(0,0) = 2*intrinsic_Matrix.at<float>(0,0)/width;
    Projection.at<float>(1,0) = 0;
    Projection.at<float>(2,0) = 0;
    Projection.at<float>(3,0) = 0;

    Projection.at<float>(0,1) = 0;
    Projection.at<float>(1,1) = 2*intrinsic_Matrix.at<float>(1,1)/height;
    Projection.at<float>(2,1) = 0;
    Projection.at<float>(3,1) = 0;

    Projection.at<float>(0,2) = 1-2*intrinsic_Matrix.at<float>(0,2)/width;
    Projection.at<float>(1,2) = -1+(2*intrinsic_Matrix.at<float>(1,2)+2)/height;
    Projection.at<float>(2,2) = (zNear+zFar)/(zNear - zFar);
    Projection.at<float>(3,2) = -1;

    Projection.at<float>(0,3) = 0;
    Projection.at<float>(1,3) = 0;
    Projection.at<float>(2,3) = 2*zNear*zFar/(zNear - zFar);
    Projection.at<float>(3,3) = 0;

    cv::Mat projection = cv::Mat::zeros(4, 4, CV_64F);
    transpose(Projection ,projection);
    glLoadMatrixf(&projection.at<float>(0,0));   */


    // gluPerspective(60, (GLfloat)width / (GLfloat)height, 1.0, 100.0); 

    /* float fx=intrinsic_Matrix.at<float>(0,0);
    float fy=intrinsic_Matrix.at<float>(1,1);
    float cf=(2*atanf(0.5*height/fy)*180/3.14);
    cout<<fx<<"   "<<fy<<endl;
    float aspect=(width*fy)/(height*fx);  */
    //gluPerspective(cf,CALIB_FIX_ASPECT_RATIO, zNear, zFar); 


    //glMatrixMode(GL_MODELVIEW);
    //  gluPerspective(60,width/height, zNear, zFar);  
    //glOrtho(-100,100,-100.0,100,zNear, zFar);

}
void init()
{
    glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
}
void main()
{
    if (!cap.isOpened())
    {
        exit(-1);
    }
    cap >> test;
    if (!test.data)
    {
        exit(-1);
    }
    //  resize(test,test,Size(180,180),0,0);
    width = test.cols;
    height = test.rows;
    cout << width << endl;
    calibrate(intrinsic_Matrix, distortion_coeffs);
    glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
    glutInitWindowSize(width, height);
    glutCreateWindow("code4change");
    init();
    glutDisplayFunc(display);
    glutReshapeFunc(reshape);
    glutMainLoop();
}

但是当我编译cide时，它总是收到错误消息＆＃34;无法打开包含文件：＆＃39; stdafx.h＆＃39;＆＃34;。我该怎么办？。我知道stdafx.h是一个c ++头文件。

Answer 1

检查项目中是否有该文件。如果你没有（你已经错误地删除了它），只需创建一个新的临时项目并复制它。

Answer 2

我发现没有必要包含＆＃34; stdafx.h＆＃34;程序中的头文件。它在Microsoft Visual Studio中使用，让编译器知道编译后的文件，无需从头开始编译。

为了更好地理解你可以参考 http://www.cplusplus.com/articles/1TUq5Di1/

Answer 3

错误C1083由于您已包含“ stdafx.h”（＃include“ stdafx.h”）而显示此文件，但您的项目中没有该文件。如果当前解决方案没有，请从其他解决方案添加stdafx.h和stdafx.cpp（Project-> add->现有文件）

Answer 4

在所有配置中为所有* .cpp文件启用预编译头。可以在“预编译头”选项卡上完成：
- 为“预编译标题”选项设置值“使用（/ Yu）”。
- 为“预编译的头文件”选项设置“ stdafx.h”。
- 为“预编译头输出文件”设置“ $（IntDir）$（TargetName）.pch” 选项。
创建一个stdafx.h文件，并将其添加到项目中。
创建一个stdafx.cpp文件，并将其添加到项目中。该文件只有一行：#include“ stdafx.h”。
在所有配置中更改stdafx.cpp文件的设置；为“预编译标题”选项设置值“创建（/ Yc）”。

参考：https://www.viva64.com/en/b/0265/

Well解释了有关预编译错误的文章。还总结了使用过程和遇到的常见错误及其解决方案。希望这会有所帮助。

错误C1083无法打开包含文件：＆＃39; stdafx.h＆＃39;：没有这样的文件或目录

4 个答案: