#include?
#include?
#include?
#include?
#include?
#include?

using?namespace?kfusion;

struct?KinFuApp
{
????static?void?KeyboardCallback（const?cv::viz::KeyboardEvent&?event?void*?pthis）
????{
????????KinFuApp&?kinfu?=?*static_cast（pthis）;

????????if（event.action?!=?cv::viz::KeyboardEvent::KEY_DOWN）
????????????return;

????????if（event.code?==?‘t‘?||?event.code?==?‘T‘）
????????????kinfu.take_cloud（*kinfu.kinfu_）;

????????if（event.code?==?‘i‘?||?event.code?==?‘I‘）
????????????kinfu.iteractive_mode_?=?!kinfu.iteractive_mode_;
????}

????KinFuApp（OpenNISource&?source）?:?exit_?（false）??iteractive_mode_（false）?capture_?（source）
????{
????????KinFuParams?params?=?KinFuParams::default_params（）;
????????kinfu_?=?KinFu::Ptr（?new?KinFu（params）?）;

????????capture_.setRegistration（true）;

????????cv::viz::WCube?cube（cv::Vec3d::all（0）?cv::Vec3d（params.volume_size）?true?cv::viz::Color::apricot（））;
????????viz.showWidget（“cube“?cube?params.volume_pose）;
????????viz.showWidget（“coor“?cv::viz::WCoordinateSystem（0.1））;
????????viz.registerKeyboardCallback（KeyboardCallback?this）;
????}

????void?show_depth（const?cv::Mat&?depth）
????{
????????cv::Mat?display;
????????//cv::normalize（depth?display?0?255?cv::NORM_MINMAX?CV_8U）;
????????depth.convertTo（display?CV_8U?255.0/4000）;
????????cv::imshow（“Depth“?display）;
????}

????void?show_raycasted（KinFu&?kinfu）
????{
????????const?int?mode?=?3;
????????if?（iteractive_mode_）
????????????kinfu.renderImage（view_device_?viz.getViewerPose（）?mode）;
????????else
????????????kinfu.renderImage（view_device_?mode）;

????????view_host_.create（view_device_.rows（）?view_device_.cols（）?CV_8UC4）;
????????view_device_.download（view_host_.ptr（）?view_host_.step）;
????????cv::imshow（“Scene“?view_host_）;
????}

????void?take_cloud（KinFu&?kinfu）
????{
????????cuda::DeviceArray?cloud?=?kinfu.tsdf（）.fetchCloud（cloud_buffer）;
????????cv::Mat?cloud_host（1?（int）cloud.size（）?CV_32FC4）;
????????cloud.download（cloud_host.ptr（））;
????????viz.showWidget（“cloud“?cv::viz::WCloud（cloud_host））;
????????//viz.showWidget（“cloud“?cv::viz::WPaintedCloud（cloud_host））;
????}

????bool?execute（）
????{
????????KinFu&?kinfu?=?*kinfu_;
????????cv::Mat?depth?image;
????????double?time_ms?=?0;
????????bool?has_image?=?false;

????????for?（int?i?=?0;?!exit_?&&?!viz.wasStopped（）;?++i）
????????{
????????????bool?has_frame?=?capture_.grab（depth?image）;
????????????if?（!has_frame）
????????????????return?std::cout?<
????????????depth_device_.upload（depth.data?depth.step?depth.rows?depth.cols）;

????????????{
????????????????SampledScopeTime?fps（time_ms）;?（void）fps;
????????????????has_image?=?kinfu（depth_device_）;
????????????}

????????????if?（has_image）
????????????????show_raycasted（kinfu）;

????????????show_depth（depth）;
????????????//cv::ims

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\
?????文件????????1582??2014-04-15?23:19??kinfu_remake-master\CMakeLists.txt
?????文件????????1492??2014-04-15?23:19??kinfu_remake-master\LICENSE.md
?????文件????????1116??2014-04-15?23:19??kinfu_remake-master\README.md
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\apps\
?????文件?????????454??2014-04-15?23:19??kinfu_remake-master\apps\CMakeLists.txt
?????文件????????4863??2014-04-15?23:19??kinfu_remake-master\apps\demo.cpp
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\cmake\
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\cmake\Modules\
?????文件????????2830??2014-04-15?23:19??kinfu_remake-master\cmake\Modules\FindOpenNI.cmake
?????文件????????2761??2014-04-15?23:19??kinfu_remake-master\cmake\Modules\FindOpenNI2.cmake
?????文件????????4671??2014-04-15?23:19??kinfu_remake-master\cmake\Targets.cmake
?????文件????????3083??2014-04-15?23:19??kinfu_remake-master\cmake\Utils.cmake
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\kfusion\
?????文件?????????222??2014-04-15?23:19??kinfu_remake-master\kfusion\CMakeLists.txt
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\kfusion\include\
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\kfusion\include\io\
?????文件?????????971??2014-04-15?23:19??kinfu_remake-master\kfusion\include\io\capture.hpp
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\
?????文件???????14543??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\device_array.hpp
?????文件???????10616??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\device_memory.hpp
?????文件????????1377??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\imgproc.hpp
?????文件????????2548??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\kernel_containers.hpp
?????文件????????1671??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\projective_icp.hpp
?????文件????????2277??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\cuda\tsdf_volume.hpp
?????文件?????????177??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\exports.hpp
?????文件????????2941??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\kinfu.hpp
?????文件????????2154??2014-04-15?23:19??kinfu_remake-master\kfusion\include\kfusion\types.hpp
?????目錄???????????0??2014-04-15?23:19??kinfu_remake-master\kfusion\src\
?????文件????????7266??2014-04-15?23:19??kinfu_remake-master\kfusion\src\capture.cpp
............此處省略17個文件信息