//?Disable?Error?C4996?that?occur?when?using?Boost.Signals2.
#ifdef?_DEBUG
#define?_SCL_SECURE_NO_WARNINGS
#endif

#include?“kinect2_grabber.h“
#include?
#include??//PCL的PCD格式文件的輸入輸出頭文件
#include??//PCL對(duì)各種格式的點(diǎn)的支持頭文件
#include?

typedef?pcl::PointXYZRGBA?PointType;

int?main（?int?argc?char*?argv[]?）
{

	int?nnn=0;
????//?PCL?Visualizer
????boost::shared_ptr?viewer（
????????new?pcl::visualization::PCLVisualizer（?“Point?Cloud?Viewer“?）?）;
????viewer->setCameraPosition（?0.0?0.0?-2.5?0.0?0.0?0.0?）;

????//?Point?Cloud
????pcl::PointCloud::ConstPtr?cloud;

????//?Retrieved?Point?Cloud?Callback?Function
????boost::mutex?mutex;
????boost::function::ConstPtr&?）>?function?=
????????[&cloud?&mutex]（?const?pcl::PointCloud::ConstPtr&?ptr?）{
????????????boost::mutex::scoped_lock?lock（?mutex?）;

????????????/*?Point?Cloud?Processing?*/

????????????cloud?=?ptr->makeShared（）;
????????};

????//?Kinect2Grabber
????boost::shared_ptr?grabber?=?boost::make_shared（）;

????//?Register?Callback?Function
????boost::signals2::connection?connection?=?grabber->registerCallback（?function?）;

????//?Start?Grabber
????grabber->start（）;
	bool?switchfd?=?true;
????while（?!viewer->wasStopped（）?）{
????????//?Update?Viewer
????????viewer->spinOnce（）;
		
????????boost::mutex::scoped_try_lock?lock（?mutex?）;
????????if（?lock.owns_lock（）?&&?cloud?）{
????????????//?Update?Point?Cloud
			//cout?<width?<			//cout?<size（）?<			

			//保存點(diǎn)云數(shù)據(jù)
			if?（nnn?==?100）
			{
				cin?>>?nnn;
				pcl::io::savePCDFileASCII（“test_pcd.pcd“?*cloud）;
				nnn?=?0;
			}
			nnn++;
			cout<<“nnn:?“<????????????if（?!viewer->updatePointCloud（?cloud?“cloud“?）?）{
			
????????????????viewer->addPointCloud（?cloud?“cloud“?）;
				
????????????}
????????}
????}

????//?Stop?Grabber
????grabber->stop（）;
????
????//?Disconnect?Callback?Function
????if（?connection.connected（）?）{
????????connection.disconnect（）;
????}

????return?0;
}

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????目錄???????????0??2017-05-29?18:46??KinectGrabber-Kinect2Grabber\
?????文件????????1100??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\License.txt
?????文件????????1358??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\README.md
?????目錄???????????0??2017-07-06?21:58??KinectGrabber-Kinect2Grabber\Sample\
?????文件?????????847??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\Sample\CMakeLists.txt
?????文件????????7138??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\Sample\FindKinectSDK2.cmake
?????目錄???????????0??2017-07-06?22:05??KinectGrabber-Kinect2Grabber\Sample\build\
?????文件???????59578??2017-06-07?20:29??KinectGrabber-Kinect2Grabber\Sample\build\ALL_BUILD.vcxproj
?????文件?????????310??2017-06-07?20:29??KinectGrabber-Kinect2Grabber\Sample\build\ALL_BUILD.vcxproj.filters
?????文件???????54568??2017-06-07?20:29??KinectGrabber-Kinect2Grabber\Sample\build\CMakeCache.txt
?????目錄???????????0??2017-06-07?20:30??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\
?????文件????????1954??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeCCompiler.cmake
?????文件????????2751??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeCXXCompiler.cmake
?????文件???????36864??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeDetermineCompilerABI_C.bin
?????文件???????36864??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeDetermineCompilerABI_CXX.bin
?????文件?????????272??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeRCCompiler.cmake
?????文件?????????395??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeSystem.cmake
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\
?????文件???????17387??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\CMakeCCompilerId.c
?????文件???????10240??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\CompilerIdC.exe
?????文件????????2403??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\CompilerIdC.vcxproj
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\
?????文件????????2011??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CMakeCCompilerId.obj
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\
?????文件?????????556??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\CL.read.1.tlog
?????文件?????????464??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\CL.write.1.tlog
?????文件?????????222??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\CompilerIdC.lastbuildstate
?????文件?????????724??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\cl.command.1.tlog
?????文件????????1064??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\link.command.1.tlog
?????文件????????2932??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\link.read.1.tlog
............此處省略69個(gè)文件信息