opengl 选择对象，正投影，透视投影 显示3d坐标 pyqt

opengl 选择对象，显示3d坐标 pyqt 正投影，透视投影

import copy
import sys
from PyQt5.QtWidgets import QOpenGLWidget, QApplication, QMainWindow
from PyQt5.QtCore import Qt, QPoint
from OpenGL.GL import *
from OpenGL.GLU import *
import cv2
import numpy as np

def point_to_line_distance(points, line_segments):

    x0, y0, x1, y1=line_segments[0][0], line_segments[0][1], line_segments[1][0], line_segments[1][1]
    px,py=points[0],points[1]
    """计算点到线段的距离"""
    line_mag = np.sqrt((x1 - x0) ** 2 + (y1 - y0) ** 2)
    if line_mag < 1e-6:
        return np.sqrt((px - x0) ** 2 + (py - y0) ** 2)

    u = ((px - x0) * (x1 - x0) + (py - y0) * (y1 - y0)) / (line_mag ** 2)
    if u < 0.0 or u > 1.0:
        # 最近点在线段外
        ix = min(max(x0, x1), max(min(x0, x1), px))
        iy = min(max(y0, y1), max(min(y0, y1), py))
    else:
        # 最近点在线段上
        ix = x0 + u *