diff --git a/chart_plugin/src/slt_space/ui_slt_widget.cpp b/chart_plugin/src/slt_space/ui_slt_widget.cpp
index e543b6134f6e35c955f81ed60229f393a961b481..f289355ad95fc73839cc769bf17c766dd2bbbb26 100755
--- a/chart_plugin/src/slt_space/ui_slt_widget.cpp
+++ b/chart_plugin/src/slt_space/ui_slt_widget.cpp
@@ -27,6 +27,11 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "ui_slt_widget.h"
 #include <ros/ros.h>
 
+#include <QTimer>
+#include "mgl2/canvas_wnd.h"
+
+#define MGL_MAX_LINES (INT_MAX - 1000)
+
 namespace chart_plugin {
 const QString MAIN_WIDGET_STYLE_SHEET = "#scrollAreaWidgetContents,#widget\n{\nbackground-color: rgb(20, 21, 24);\n}";
 const QString SCROLLAREA_WIDGET_STYLE_SHEET = "QPushButton{background-color:transparent;"
@@ -179,7 +184,7 @@ void chart_plugin::MathGL::wheelEvent(QWheelEvent *event)
         sum = (x2 + x1) / 2;
         x1 = sum - diff;
         x2 = sum + diff;
-        refresh();
+        Refresh();
         event->accept();
         return;
     }
@@ -197,7 +202,7 @@ void chart_plugin::MathGL::wheelEvent(QWheelEvent *event)
     ax1 = sum - diff;
     ax2 = sum + diff;
     mgl_zoom_axis((HMGL)gr, ax1, ay1, 0, 0, ax2, ay2, 0, 0);
-    update();
+    Update();
     event->accept();
 }
 
@@ -246,7 +251,7 @@ void MathGL::mouseMoveEvent(QMouseEvent *event)
     emit phiChanged(static_cast<int32_t>(phi));
     posX = x;
     posY = y;
-    refresh();
+    Refresh();
 }
 
 void MathGL::mouseReleaseEvent(QMouseEvent *event) 
@@ -259,4 +264,144 @@ void MathGL::mouseReleaseEvent(QMouseEvent *event)
     }
     QMathGL::mouseReleaseEvent(event);
 }
+
+void MathGL::Update()
+{
+    if (draw_func || draw) {
+        mgl_reset_frames((HMGL)gr);
+        if (mgl_get_flag((HMGL)gr, MGL_CLF_ON_UPD)) {
+            mgl_set_def_param((HMGL)gr);
+        }
+        mgl_set_alpha((HMGL)gr, alpha);
+        mgl_set_light((HMGL)gr, light);
+        if (custDraw) {
+            emit customDraw(x1, y1, x2, y2, true);
+        }
+        Draw();
+    } else if (mgl_get_num_frame((HMGL)gr) > 0) {
+        mgl_set_alpha((HMGL)gr, alpha);
+        mgl_set_light((HMGL)gr, light);
+        mgl_get_frame((HMGL)gr, 0);
+    }
+    this->AfterPlot();
+}
+
+void MathGL::Draw()
+{
+    if (!isHidden()) {
+        QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
+    }
+    const std::string loc = setlocale(LC_NUMERIC, "C");
+    if (mgl_is_frames((HMGL)gr)) {
+        mgl_new_frame((HMGL)gr);
+    }
+	if (draw_func) {
+        draw_func((HMGL)gr, draw_par);
+    } else if (draw) {
+        mglGraph graph((HMGL)gr);
+        draw->Draw(&graph);
+    }
+    if (mgl_is_frames((HMGL)gr)) {
+        mgl_end_frame((HMGL)gr);
+    }
+    setlocale(LC_NUMERIC, loc.c_str());
+    gr->AskStop(false);
+    setMinimumSize(gr->GetWidth(), gr->GetHeight());
+}
+
+void MathGL::AfterPlot()
+{
+    emit refreshData();
+    emit showWarn(mgl_get_mess((HMGL)gr));
+    mousePos = "";
+    if (!isHidden()) {
+        QApplication::restoreOverrideCursor();
+    }
+    this->Refresh();
+}
+
+void MathGL::Refresh()
+{
+    if (dotsRefr) {
+        timerRefr->start();
+        gr->SetQuality(MGL_DRAW_DOTS);
+    }
+    if (mgl_is_frames((HMGL)gr) && mgl_get_num_frame((HMGL)gr) > 0) {
+        this->DrawPrim();
+        if (custZoom) {
+            emit customZoom(x1, y1, x2, y2, tet, phi, per);
+        } else {
+            mgl_zoom((HMGL)gr, x1, y1, x2, y2);
+            mgl_ask_perspective((HMGL)gr, per);
+            if (viewYZ) {
+                mgl_view((HMGL)gr, 0, -tet, -phi);
+            } else {
+                mgl_view((HMGL)gr, -phi, -tet, 0);
+            }
+        }
+    }
+
+    uchar *buffer = nullptr;
+    const uchar *rgb = mgl_get_rgb((HMGL)gr);
+    long width = mgl_get_width((HMGL)gr);
+    long height = mgl_get_height((HMGL)gr);
+
+    const int32_t alpha = 255;
+    // 4代表rgba4个数据
+    buffer = new uchar[4 * width * height];
+    for (long i = 0; i < width * height; i++) {
+        // 将rgb的第3列数据赋值给buffer第1列数据
+        buffer[4 * i] = rgb[3 * i + 2];
+        // 将rgb的第2列数据赋值给buffer第2列数据
+        buffer[4 * i + 1] = rgb[3 * i + 1];
+        // 将rgb的第1列数据赋值给buffer第3列数据
+        buffer[4 * i + 2] = rgb[3 * i];
+        // 将alpha赋值给buffer第4列数据
+        buffer[4 * i + 3] = alpha;
+    }
+    QImage img(buffer, width, height, QImage::Format_RGB32);
+    pic = QPixmap::fromImage(img);
+
+    if (pic.size() != size()) {
+        this->setSize(pic.width(), pic.height());
+    }
+    this->parentWidget()->update();
+}
+
+void MathGL::DrawPrim()
+{
+    if (!(HMGL)gr) {
+        return;
+    }
+    mglCanvasWnd *canvas = dynamic_cast<mglCanvasWnd *>((HMGL)gr);
+    mgl_get_frame((HMGL)gr, canvas ? canvas->GetCurFig() : mgl_get_num_frame((HMGL)gr) - 1);
+    mglParse parse;
+    long count = primitives.count('\n');
+    mglGraph graph((HMGL)gr);
+    const std::string locale = setlocale(LC_NUMERIC, "C");
+    graph.Push();
+    graph.SubPlot(1, 1, 0, "#");
+    mglPoint min = gr->Min;
+    mglPoint max = gr->Max;
+    // 范围从(-1,-1,-1)点到(1,1,1)点
+    graph.SetRanges(mglPoint(-1, -1, -1), mglPoint(1, 1, 1));
+    for (long i = 0; i < count; i++) {
+        mgl_set_obj_id((HMGL)gr, i + MGL_MAX_LINES);
+        parse.Parse(&graph, primitives.section('\n', i, i).toLocal8Bit().constData(), i + MGL_MAX_LINES);
+    }
+    graph.SetRanges(min, max);
+    graph.Pop();
+    setlocale(LC_NUMERIC, locale.c_str());
+}
+
+void MathGL::SetSize(int32_t width, int32_t height)
+{
+    resize(width, height);
+    if (width != pic.width() || height != pic.height()) {
+        mgl_set_size((HMGL)gr, width, height);
+        this->Update();
+        setMinimumSize(gr->GetWidth(), gr->GetHeight());
+    }
+}
+
 } //  namespace chart_plugin
diff --git a/chart_plugin/src/slt_space/ui_slt_widget.h b/chart_plugin/src/slt_space/ui_slt_widget.h
index a08263d657566a51e3fb5ec5dcebc3f370328ba2..c2b0e4870810802c794f4ba250616d964944f371 100755
--- a/chart_plugin/src/slt_space/ui_slt_widget.h
+++ b/chart_plugin/src/slt_space/ui_slt_widget.h
@@ -132,12 +132,27 @@ public:
     explicit MathGL(QWidget *parent = nullptr, Qt::WindowFlags flag = 0) : QMathGL(parent, flag) {}
     ~MathGL() override = default;
 
+    /*
+     * 功能：设置窗口大小
+     * 输入参数：width-宽度，height-高度
+     * 输出参数：无
+     * 返回值：无
+     */
+    void SetSize(int32_t width, int32_t height);
+
 protected:
     void wheelEvent(QWheelEvent *event) override;
     void mousePressEvent(QMouseEvent *event) override;
     void mouseMoveEvent(QMouseEvent *event) override;
     void mouseReleaseEvent(QMouseEvent *event) override;
 
+private:
+    void Update();
+    void Draw();
+    void AfterPlot();
+    void Refresh();
+    void DrawPrim();
+
 private:
     int32_t posX {};
     int32_t posY {};
diff --git a/chart_plugin/src/slt_space_display.cpp b/chart_plugin/src/slt_space_display.cpp
index 28e663820f30c3c585aee2d4898def5f51954c25..fc848c4dd7a40b718948e441c858edf72732bdfc 100755
--- a/chart_plugin/src/slt_space_display.cpp
+++ b/chart_plugin/src/slt_space_display.cpp
@@ -63,7 +63,7 @@ bool SltSpaceDisplay::eventFilter(QObject *obj, QEvent *e)
         return QObject::eventFilter(obj, e);
     }
 
-    ui.GetQMathGl()->setSize(ui.GetQMathGl()->parentWidget()->width(), ui.GetQMathGl()->parentWidget()->height());
+    dynamic_cast<MathGL *>(ui.GetQMathGl())->SetSize(ui.GetQMathGl()->parentWidget()->width(), ui.GetQMathGl()->parentWidget()->height());
     UpdateLegend();
     return true;
 }