第1关：简单实体构建

// 提示：在合适的地方修改或添加代码
#include <GL/freeglut.h>
#include<stdio.h>
#include<iostream>
// 评测代码所用头文件-开始
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
using namespace std;
// 评测代码所用头文件-结束
// 请在此添加你的代码
/********** Begin ********/
GLfloat points1[4][3] = { {0,1.7,0},{-1,0,1},{1,0,1},{0,0,-0.7} };
GLfloat Colors1[4][3] = { {0,0,1},{1,0,0},{1,1,0},{0,1,0} };
int vertice1[4][3] = { {0,1,2},{0,2,3},{0,1,3},{1,2,3} };
/********** End **********/
void InitGL(GLvoid)
{glShadeModel(GL_SMOOTH);glClearColor(0.0f, 0.0f, 0.0f, 0.0f);glClearDepth(1.0f);glEnable(GL_DEPTH_TEST);glDepthFunc(GL_LEQUAL);glEnable(GL_COLOR_MATERIAL);glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
}
void Create()                //创建三棱锥
{glBegin(GL_TRIANGLES);for (int i = 0; i < 4; i++){glColor3fv(Colors1[i]);for (int j = 0; j < 3; j++){int VtxId = vertice1[i][j];glVertex3fv(points1[VtxId]);}}glEnd();
}
void display(void)
{glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);glLoadIdentity();                   // 请在此添加你的代码/********** Begin ********/glPushMatrix();glTranslatef(0.0f,0.2f,-3.0f); glRotatef(95.0f,1.0f,0.0f, 0.0f);/********** End **********/Create();                   //三棱锥glPopMatrix();glutSwapBuffers();
}
void reshape(int width, int height)
{if (height == 0)height = 1;glViewport(0, 0, width, height);glMatrixMode(GL_PROJECTION);glLoadIdentity();gluPerspective(45.0f, (GLfloat)width / (GLfloat)height, 0.1f, 100.0f);glMatrixMode(GL_MODELVIEW);glLoadIdentity();
}int main(int argc, char *argv[])
{glutInit(&argc, argv);glutInitWindowPosition(100, 100);glutInitWindowSize(400, 400);glutCreateWindow("几何变换示例");InitGL();glutDisplayFunc(display);glutReshapeFunc(reshape);glutMainLoopEvent();     /*************以下为评测代码，与本次实验内容无关，请勿修改**************/GLubyte* pPixelData = (GLubyte*)malloc(400 * 400 * 3);//分配内存GLint viewport[4] = {0};    glReadBuffer(GL_FRONT);glPixelStorei(GL_UNPACK_ALIGNMENT, 4);glGetIntegerv(GL_VIEWPORT, viewport);glReadPixels(viewport[0], viewport[1], viewport[2], viewport[3], GL_RGB, GL_UNSIGNED_BYTE, pPixelData);cv::Mat img;std::vector<cv::Mat> imgPlanes;img.create(400, 400, CV_8UC3);cv::split(img, imgPlanes);for (int i = 0; i < 400; i++) {unsigned char* plane0Ptr = imgPlanes[0].ptr<unsigned char>(i);unsigned char* plane1Ptr = imgPlanes[1].ptr<unsigned char>(i);unsigned char* plane2Ptr = imgPlanes[2].ptr<unsigned char>(i);for (int j = 0; j < 400; j++) {int k = 3 * (i * 400 + j);plane2Ptr[j] = pPixelData[k];plane1Ptr[j] = pPixelData[k + 1];plane0Ptr[j] = pPixelData[k + 2];}}cv::merge(imgPlanes, img);cv::flip(img, img, 0);cv::namedWindow("openglGrab");cv::imshow("openglGrab", img);//cv::waitKey();cv::imwrite("../img_step1/test.jpg", img);return 0;
}

第2关：简单机器人构建

// 提示：在合适的地方修改或添加代码
#include <GL/freeglut.h>
#include<stdio.h>// 评测代码所用头文件-开始
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
// 评测代码所用头文件-结束GLint winWidth = 500, winHeight =500 ;           //设置初始化窗口大小/*观察坐标系参数设置*/
GLfloat x0 = 2.0, yy = 2.0, z0 = 5.0;       //设置观察坐标系原点
GLfloat xref = 0.0, yref = 0.0, zref = 0.0;    //设置观察坐标系参考点（视点）
GLfloat Vx = 0.0, Vy = 1.0, Vz = 0.0;       //设置观察坐标系向上向量（y轴） /*观察体参数设置 */
GLfloat xwMin = -1.0, ywMin = -1.0, xwMax = 1.0, ywMax = 1.0;//设置裁剪窗口坐标范围
GLfloat dnear = 1.5, dfar = 20.0;          //设置远、近裁剪面深度范围void init(void)
{glClearColor(0.0, 0.0, 0.0, 0.0);
}
void display(void)
{glClear(GL_COLOR_BUFFER_BIT);glLoadIdentity();/*观察变换*/gluLookAt(x0, yy, z0, xref, yref, zref, Vx, Vy, Vz);        //指定三维观察参数// 请在此添加你的代码/********** Begin ********/glPushMatrix();glColor3f(1.0f,1.0f,1.0f);glTranslatef(0.0f,1.4f,0.0f);glScalef(0.5,0.7,0.5);glutSolidCube(0.5);glPopMatrix();glPushMatrix();glColor3f(1.0f,0.5f,0.2f);glTranslatef(0.0f,1.9f,0.0f);glScalef(1.5,1.5,0.5);glutSolidCube(0.5);glPopMatrix();glPushMatrix();glColor3f(1.0f,0.0f,0.0f);glTranslatef(0.0f,0.25f,0.0f);glScalef(4.0f,4.0f,0.5f);glutSolidCube(0.5);glPopMatrix();glPushMatrix();glColor3f(1.0f,1.0f,0.0f);glTranslatef(-1.25f,0.5f,0.0f);glScalef(1.0,3.0,0.5);glutSolidCube(0.5);glPopMatrix();glPushMatrix();glColor3f(1.0f,1.0f,0.0f);glTranslatef(1.25f,0.5f,0.0f);glScalef(1.0,3.0,0.5);glutSolidCube(0.5);glPopMatrix();glPushMatrix();glColor3f(0.5f,0.5f,1.5f);glTranslatef(-0.5f,-1.5f,0.0f);glScalef(1.0,3.0,0.5);glutSolidCube(0.5);glPopMatrix();glPushMatrix();glColor3f(0.5f,0.5f,1.5f);glTranslatef(0.5f,-1.5f,0.0f);glScalef(1.0,3.0,0.5);glutSolidCube(0.5);glPopMatrix();GLUquadricObj *sphere;  sphere=gluNewQuadric();  glPushMatrix();glColor3f(1.0, 0.5, 0.2);glTranslatef(-1.25f,-0.5f,0.0f);glScalef(1,1.5,1);gluSphere(sphere,0.25,50,50);  glPopMatrix();glPushMatrix();glColor3f(1.0, 0.5, 0.2);glTranslatef(1.25f,-0.5f,0.0f);glScalef(1,1.5,1);gluSphere(sphere,0.25,50,50);  glPopMatrix();/********** End **********/glFlush();
}void reshape(GLint newWidth, GLint newHeight)
{/*视口变换*/glViewport(0, 0, newWidth, newHeight);    //定义视口大小/*投影变换*/glMatrixMode(GL_PROJECTION);glLoadIdentity();/*透视投影，设置透视观察体*/glFrustum(xwMin, xwMax, ywMin, ywMax, dnear, dfar);/*模型变换*/glMatrixMode(GL_MODELVIEW);winWidth = newWidth;winHeight = newHeight;
}
int main(int argc, char* argv[])
{glutInit(&argc, argv);glutInitWindowPosition(100, 100);glutInitWindowSize( 500 , 500 );        //设置初始化窗口大小glutCreateWindow("三维观察");init();glutDisplayFunc(display);glutReshapeFunc(reshape);glutMainLoopEvent();/*************以下为评测代码，与本次实验内容无关，请勿修改**************/GLubyte* pPixelData = (GLubyte*)malloc(500 * 500 * 3);//分配内存GLint viewport[4] = { 0 };    glReadBuffer(GL_FRONT);glPixelStorei(GL_UNPACK_ALIGNMENT, 4);glGetIntegerv(GL_VIEWPORT, viewport);glReadPixels(viewport[0], viewport[1], viewport[2], viewport[3], GL_RGB, GL_UNSIGNED_BYTE, pPixelData);cv::Mat img;std::vector<cv::Mat> imgPlanes;img.create(500, 500, CV_8UC3);cv::split(img, imgPlanes);for (int i = 0; i < 500; i++) {unsigned char* plane0Ptr = imgPlanes[0].ptr<unsigned char>(i);unsigned char* plane1Ptr = imgPlanes[1].ptr<unsigned char>(i);unsigned char* plane2Ptr = imgPlanes[2].ptr<unsigned char>(i);for (int j = 0; j < 500; j++) {int k = 3 * (i * 500 + j);plane2Ptr[j] = pPixelData[k];plane1Ptr[j] = pPixelData[k + 1];plane0Ptr[j] = pPixelData[k + 2];}}cv::merge(imgPlanes, img);cv::flip(img, img, 0);cv::namedWindow("openglGrab");cv::imshow("openglGrab", img);//cv::waitKey();cv::imwrite("../img_step2/test.jpg", img);return 0;
}

第3关：Bezier曲线和B样条曲线

// 提示：在合适的地方修改或添加代码
#include <GL/freeglut.h>
#include<stdio.h>
#include <stdlib.h>
#include <vector>
// 评测代码所用头文件-开始
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
// 评测代码所用头文件-结束using namespace std;struct Point
{int x, y;
};Point bz[11], bspt[11];     //bz为Bezier曲线，bspt为B样条曲线int nInput;
//Bezier曲线控制点
Point pt[4] = { { 50, 100}, { 140,300},{250, 320}, {290, 120} };
//B样条曲线控制点
/**********请在此处添加你的代码*******//************** Begin ************/
Point pt2[4]={  { 450, 100}, { 540,300},{650, 320}, {690, 120}  };
/*************** end **************/void CalcBZPoints()                              //Bezier曲线算法
{float a0, a1, a2, a3, b0, b1, b2, b3;a0 = pt[0].x;a1 = -3 * pt[0].x + 3 * pt[1].x;a2 = 3 * pt[0].x - 6 * pt[1].x + 3 * pt[2].x;a3 = -pt[0].x + 3 * pt[1].x - 3 * pt[2].x + pt[3].x;b0 = pt[0].y;b1 = -3 * pt[0].y + 3 * pt[1].y;b2 = 3 * pt[0].y - 6 * pt[1].y + 3 * pt[2].y;b3 = -pt[0].y + 3 * pt[1].y - 3 * pt[2].y + pt[3].y;float t = 0;float dt = 0.01;for (int i = 0; t < 1.1; t += 0.1, i++){bz[i].x = a0 + a1 * t + a2 * t * t + a3 * t * t * t;bz[i].y = b0 + b1 * t + b2 * t * t + b3 * t * t * t;}
}void CalcBSPoints()                          //B样条曲线
{
/**********请在此处添加你的代码*******//************** Begin ************/float a0, a1, a2, a3, b0, b1, b2, b3;a0 = pt2[0].x + 4 * pt2[1].x + pt2[2].x;a1 = -3 * pt2[0].x + 3 * pt2[2].x;a2 = 3 * pt2[0].x - 6 * pt2[1].x + 3 * pt2[2].x;a3 = -pt2[0].x + 3 * pt2[1].x - 3 * pt2[2].x + pt2[3].x;b0 = pt2[0].y + 4 * pt2[1].y + pt2[2].y;b1 = -3 * pt2[0].y + 3 * pt2[2].y;b2 = 3 * pt2[0].y - 6 * pt2[1].y + 3 * pt2[2].y;b3 = -pt2[0].y + 3 * pt2[1].y - 3 * pt2[2].y + pt2[3].y; float t = 0;float dt = 0.01;for (int i = 0; t < 1.1; t += 0.1, i++){bspt[i].x = ( a0 + a1 * t + a2 * t * t + a3 * t * t * t ) / 6;bspt[i].y =  ( b0 + b1 * t + b2 * t * t + b3 * t * t * t ) / 6;}}
/************* end ************/
void ControlPoint()
{glPointSize(2);for (int i = 0; i < 4; i++){glBegin(GL_POINTS);glColor3f(1.0f, 0.0f, 0.0f);glVertex2i(pt[i].x, pt[i].y);glEnd();}
}void PolylineGL(Point* pt, int num)
{glBegin(GL_LINE_STRIP);for (int i = 0; i < num; i++){   glColor3f(0.0f, 1.0f, 0.0f);glVertex2i(pt[i].x, pt[i].y);}glEnd();
}
void PolylineGL1(Point* pt, int num)
{glBegin(GL_LINE_STRIP);for (int i = 0; i < num; i++){   glColor3f(1.0f, 1.0f, 1.0f);glVertex2i(pt[i].x, pt[i].y);}glEnd();
}void display()
{glClear(GL_COLOR_BUFFER_BIT);glColor3f(1.0f, 1.0f, 1.0f);ControlPoint();              //画4个控制点PolylineGL1(pt, 4);           //画4个点之间的线段CalcBZPoints();PolylineGL(bz, 11);PolylineGL1(pt2, 4);CalcBSPoints();PolylineGL(bspt, 11);glFlush();
}void init()
{glClearColor(0.0, 0.0, 0.0, 0.0);glShadeModel(GL_SMOOTH);
}void reshape(int w, int h)
{glViewport(0, 0, (GLsizei)w, (GLsizei)h);glMatrixMode(GL_PROJECTION);glLoadIdentity();gluOrtho2D(0.0, (GLdouble)w, 0.0, (GLdouble)h);
}int main(int argc, char* argv[])
{glutInit(&argc, argv);glutInitWindowPosition(100, 100);glutInitWindowSize( 800 , 400 );        //设置初始化窗口大小glutCreateWindow("三维观察");init();glutDisplayFunc(display);glutReshapeFunc(reshape);glutMainLoopEvent();/*************以下为评测代码，与本次实验内容无关，请勿修改**************/GLubyte* pPixelData = (GLubyte*)malloc(800 * 400 * 3);//分配内存GLint viewport[4] = { 0 };glReadBuffer(GL_FRONT);glPixelStorei(GL_UNPACK_ALIGNMENT, 4);glGetIntegerv(GL_VIEWPORT, viewport);glReadPixels(viewport[0], viewport[1], viewport[2], viewport[3], GL_RGB, GL_UNSIGNED_BYTE, pPixelData);cv::Mat img;std::vector<cv::Mat> imgPlanes;img.create(400, 800, CV_8UC3);cv::split(img, imgPlanes);for (int i = 0; i < 400; i++) {unsigned char* plane0Ptr = imgPlanes[0].ptr<unsigned char>(i);unsigned char* plane1Ptr = imgPlanes[1].ptr<unsigned char>(i);unsigned char* plane2Ptr = imgPlanes[2].ptr<unsigned char>(i);for (int j = 0; j < 800; j++) {int k = 3 * (i * 800 + j);plane2Ptr[j] = pPixelData[k];plane1Ptr[j] = pPixelData[k + 1];plane0Ptr[j] = pPixelData[k + 2];}}cv::merge(imgPlanes, img);cv::flip(img, img, 0);cv::namedWindow("openglGrab");cv::imshow("openglGrab", img);//cv::waitKey();cv::imwrite("../img_step3/test.jpg", img);return 0;
}