#include?“prepare.h“

#define?frameCount?5

int?main（int?argc?char**argv）
{
	clock_t?time?=?clock（）;
	//preparatory?work
	Kinect?kinect;
	if?（kinect.kinectStart（）?!=?0）
	{
		cout?<		return?-1;
	}
	//prepare?buffer
	Mat?DepthBuffer（Image::iDepthHeight?Image::iDepthWidth?CV_16UC1）;
	Mat?DepthBufferT（Image::iDepthHeight?Image::iDepthWidth?CV_8UC1）;
	Mat?ColorBuffer（Image::iColorHeight?Image::iColorWidth?CV_8UC4）;
	Mat?MappedColor（Image::iDepthHeight?Image::iDepthWidth?CV_8UC3）;
	Mat?MappedDepth（Image::iColorHeight?Image::iColorWidth?CV_8UC1）;
	ColorSpacePoint*?pColorSpacePoint?=?new?ColorSpacePoint[Image::iDepthframeSize];
	DepthSpacePoint*?pDepthSpacePoint?=?new?DepthSpacePoint[Image::iColorframeSize];
	CameraSpacePoint*?pCameraSpacePoint?=?new?CameraSpacePoint[Image::iColorframeSize];
	//prepare?image?file
	string?str[frameCount];
	for?（int?i?=?0;?i?ameCount;?i++）
	{
		char?c[3];
		_itoa（i?c?10）;
		str[i]?=?c;
	}
	//get?frame?info
	for?（int?i?=?0;?i?ameCount;?i++）
	{
		//get?depth?data
		while?（kinect.pDepthframeReader->AcquireLatestframe（&kinect.pDepthframe）?!=?S_OK）;
		while?（kinect.pDepthframe->CopyframeDataToArray（Image::iDepthframeSize?（UINT16*）DepthBuffer.data）?!=?S_OK）;
		kinect.releaseDepthframe（）;
		DepthBuffer.convertTo（DepthBufferT?CV_8U?255.0f?/?Image::iDepthMax）;
		//get?color?data
		while?（kinect.pColorframeReader->AcquireLatestframe（&kinect.pColorframe）?!=?S_OK）;
		while?（kinect.pColorframe->CopyConvertedframeDataToArray（Image::iColorframeSize?*?4?ColorBuffer.data?ColorImageFormat_Bgra）?!=?S_OK）;
		kinect.releaseColorframe（）;
		//prepare?point?cloud?data?buffer
		PointCloud::Ptr?cloud_depth（new?PointCloud）;
		cloud_depth->width?=?Image::iDepthWidth;
		cloud_depth->height?=?Image::iDepthHeight;
		cloud_depth->is_dense?=?false;
		cloud_depth->resize（Image::iDepthframeSize）;
		/*PointCloud::Ptr?cloud_color（new?PointCloud）;
		cloud_color->width?=?Image::iColorWidth;
		cloud_color->height?=?Image::iColorHeight;
		cloud_color->is_dense?=?false;
		cloud_color->resize（Image::iColorframeSize）;*/

		//map?coordinate
		kinect.coordinateMap（（UINT16*）DepthBuffer.data?pColorSpacePoint?pCameraSpacePoint?&MappedColor?&ColorBuffer?cloud_depth）;
		//kinect.coordinateMap（（UINT16*）DepthBuffer.data?pDepthSpacePoint?pCameraSpacePoint?&MappedDepth?DepthBufferT.data?&ColorBuffer?cloud_color）;

		//save?mapped?depth-color?image
		imwrite（“g://“?+?str[i]?+?“1depth.png“?DepthBufferT）;
		imwrite（“g://“?+?str[i]?+?“1color.png“?MappedColor）;
		io::savePCDFile（“g://“?+?str[i]?+?“1depth.pcd“?*cloud_depth）;
		//imwrite（“g://“?+?str[i]?+?“0color.png“?ColorBuffer）;
		//imwrite（“g://“?+?str[i]?+?“0depth.png“?MappedDepth）;
		//io::savePLYFile（“g://“?+?str[i]?+?“0color.ply“?*cloud_color）;
	}
	//release?dynamic?array
	delete[]?pColorSpacePoint;
	delete[]?pDepthSpacePoint;
	delete[]?pCamer

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????7728??2017-04-03?21:56??3D_Reconstruction1\3D_Reconstruction\3D_Reconstruction.vcxproj

?????文件???????1177??2017-04-03?21:56??3D_Reconstruction1\3D_Reconstruction\3D_Reconstruction.vcxproj.filters

?????文件????????634??2017-04-03?20:19??3D_Reconstruction1\3D_Reconstruction\3D_Reconstruction.vcxproj.user

?????文件???????3119??2017-05-09?02:04??3D_Reconstruction1\3D_Reconstruction\main.cpp

?????文件???????9456??2017-05-08?18:40??3D_Reconstruction1\3D_Reconstruction\prepare.cpp

?????文件???????1346??2017-05-08?01:26??3D_Reconstruction1\3D_Reconstruction\prepare.h

?????文件????????168??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\3D_Reconstruction.lastbuildstate

?????文件??????12504??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\cl.command.1.tlog

?????文件????1447542??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\CL.read.1.tlog

?????文件???????4234??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\CL.write.1.tlog

?????文件??????15536??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\link.command.1.tlog

?????文件??????31766??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\link.read.1.tlog

?????文件????????728??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\link.write.1.tlog

?????文件???????7899??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Reconstruction.log

?????文件????2155213??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\main.obj

?????文件????1778604??2017-04-03?21:40??3D_Reconstruction1\3D_Reconstruction\x64\Debug\mainMapToDepth.obj

?????文件????1783053??2017-04-03?20:37??3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_MapToDepth.obj

?????文件?????311844??2017-03-28?17:03??3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_test.obj

?????文件?????338833??2017-03-29?20:41??3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_test3.obj

?????文件?????274642??2017-03-28?17:00??3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_test_1.obj

?????文件?????301148??2017-03-29?15:10??3D_Reconstruction1\3D_Reconstruction\x64\Debug\mian_test2.obj

?????文件????1146081??2017-05-08?18:46??3D_Reconstruction1\3D_Reconstruction\x64\Debug\prepare.obj

?????文件???12160000??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\vc120.idb

?????文件???15437824??2017-05-09?02:02??3D_Reconstruction1\3D_Reconstruction\x64\Debug\vc120.pdb

?????文件????7274496??2018-06-20?14:58??3D_Reconstruction1\3D_Reconstruction.sdf

?????文件???????1351??2017-03-28?10:24??3D_Reconstruction1\3D_Reconstruction.sln

????..A..H.?????58368??2018-06-20?14:58??3D_Reconstruction1\3D_Reconstruction.v12.suo

?????文件?????329216??2017-05-09?02:02??3D_Reconstruction1\x64\Debug\3D_Reconstruction.exe

?????文件????2671204??2017-05-09?02:02??3D_Reconstruction1\x64\Debug\3D_Reconstruction.ilk

?????文件???17272832??2017-05-09?02:02??3D_Reconstruction1\x64\Debug\3D_Reconstruction.pdb

............此處省略10個文件信息