#include?
#include?“kinect.h“
#include?
#include???
#include???
#include?
#include?
#include?
#include?
#include?“PracticalSocket.h“
#include?
#define?GL_DISPLAY
//#define?SAVE_IMG
using?namespace?cv;
using?namespace?std;

#pragma?comment（lib?“opengl32.lib“）
double?yaw?pitch?lastX?lastY;?int?ml;
static?void?on_mouse_button（GLFWwindow?*?win?int?button?int?action?int?mods）
{
	if?（button?==?GLFW_MOUSE_BUTTON_LEFT）?ml?=?action?==?GLFW_PRESS;
}
static?double?clamp（double?val?double?lo?double?hi）?{?return?val??hi???hi?:?val;?}
static?void?on_cursor_pos（GLFWwindow?*?win?double?x?double?y）
{
	if?（ml）
	{
		yaw?=?clamp（yaw?-?（x?-?lastX）?-120?120）;
		pitch?=?clamp（pitch?+?（y?-?lastY）?-80?80）;
	}
	lastX?=?x;
	lastY?=?y;
}


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

int?main（）
{
#ifdef?GL_DISPLAY
	///?[gl?display]
	//?Open?a?GLFW?window?to?display?our?output
	int?a?=?glfwInit（）;
	GLFWwindow?*?win?=?glfwCreateWindow（1024?768?“gl_win“?nullptr?nullptr）;
	glfwSetCursorPosCallback（win?on_cursor_pos）;
	glfwSetMouseButtonCallback（win?on_mouse_button）;
	glfwMakeContextCurrent（win）;
#endif
#pragma?region?初始化設備
	//?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（2000）;
		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;
	}
	//?三個數據幀及引用
	IDepthframeReference*?m_pDepthframeReference?=?NULL;
	IColorframeReference*?m_pColorframeReference?=?NULL;
	IDepthframe*?m_pDepthframe?=?NULL;
	IColorframe*?m_pColorframe?=?NULL;
	//?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_raw（424?512?CV_16UC1）;

	
	IMultiSourceframe*?m_pMultiframe?=?NULL;

	DepthSpacePoint*????????m_pDepthCoordinates?=?NULL;
	ColorSpacePoint*????????m_pColorCoordinates?=?NULL;
	CameraSpacePoint*????????m_pCameraCoordinates?=?NULL;