/*
獲取kinect原始圖片序列并依時間保存，以100張為單位，獲取的圖片可用于kinect標定
*/

#include?“kinect.h“
#include?
#include???
#include???
#include?
#include?

using?namespace?cv;
using?namespace?std;

//?安全釋放指針
template
inline?void?SafeRelease（Interface?*&?pInterfaceToRelease）
{
	if?（pInterfaceToRelease?!=?NULL）
	{
		pInterfaceToRelease->Release（）;
		pInterfaceToRelease?=?NULL;
	}
}

//?保存所需數據的結構體
struct?eachframe
{
	string?depth_name;
	string?rgb_name;
	cv::Mat?tmp_itD1;
	cv::Mat?tmp_itRGB1;
};

int?main（）
{
	//?創建保存目錄
	CreateDirectory（L“.//images“?NULL）;

	//?獲取Kinect設備
	IKinectSensor*?m_pKinectSensor;
	ICoordinateMapper*??????m_pCoordinateMapper;
	CameraIntrinsics*?m_pCameraIntrinsics?=?new?CameraIntrinsics（）;
	HRESULT?hr;
	hr?=?GetDefaultKinectSensor（&m_pKinectSensor）;

	if?（FAILED（hr））
	{
		return?hr;
	}

	IMultiSourceframeReader*?m_pMultiframeReader;
	IBodyframeSource*?m_pBodyframeSource;
	IBodyframeReader*?m_pBodyframeReader;
	if?（m_pKinectSensor）
	{
		hr?=?m_pKinectSensor->Open（）;
		Sleep（1000）;
		if?（SUCCEEDED（hr））
		{
			m_pKinectSensor->get_BodyframeSource（&m_pBodyframeSource）;
			//?獲取多數據源到讀取器??
			hr?=?m_pKinectSensor->OpenMultiSourceframeReader（
				frameSourceTypes::frameSourceTypes_Color?|
				frameSourceTypes::frameSourceTypes_Infrared?|
				frameSourceTypes::frameSourceTypes_Depth
				&m_pMultiframeReader）;
		}
	}

	if?（SUCCEEDED（hr））
	{
		hr?=?m_pKinectSensor->get_CoordinateMapper（&m_pCoordinateMapper）;
	}

	if?（!m_pKinectSensor?||?FAILED（hr））
	{
		return?E_FAIL;
	}

	//?獲取深度相機內參并打印
	if?（SUCCEEDED（hr））
	{
		hr?=?m_pCoordinateMapper->GetDepthCameraIntrinsics（m_pCameraIntrinsics）;
	}
	if?（SUCCEEDED（hr））
	{
		cout?<FocalLengthX?<		cout?<FocalLengthY?<		cout?<PrincipalPointX?<		cout?<PrincipalPointY?<		cout?<RadialDistortionFourthOrder?<		cout?<RadialDistortionSecondOrder?<		cout?<RadialDistortionSixthOrder?<	}


	//?三個數據幀及引用
	IDepthframeReference*?m_pDepthframeReference;
	IColorframeReference*?m_pColorframeReference;
	IInfraredframeReference*?m_pInfraredframeReference;
	IInfraredframe*?m_pInfraredframe;
	IDepthframe*?m_pDepthframe;
	IColorframe*?m_pColorframe;
	//?四個個圖片格式
	Mat?i_rgb（1080?1920?CV_8UC4）;??????//注意：這里必須為4通道的圖，Kinect的數據只能以Bgra格式傳出
	Mat?i_depth（424?512?CV_8UC1）;
	Mat?i_depth_raw（424?512?CV_16UC1）;
	Mat?i_ir（424?512?CV_16UC1）;

	UINT16?*depthData?=?new?UINT16[424?*?512];
	UINT16?*irData?=?new?UINT16[424?*?512];
	IMultiSourceframe*