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

#include?
#include?
#include?
#include?
#include?
#include???
#include?
#include?
#include?
#include?
//#include?“PracticalSocket.h“
#include?

using?namespace?cv;
using?namespace?std;
template??????//函數(shù)模板
inline?void?SafeRelease（Interface?*&?pInterfaceToRelease）
{
	if?（pInterfaceToRelease?!=?NULL）
	{
		pInterfaceToRelease->Release（）;
		pInterfaceToRelease?=?NULL;
	}
}
int?main（）
{

	setUseOptimized（true）;
	int?depthWidth?=?512;
	int?depthHeight?=?424;

	
	HRESULT?hResult?=?S_OK;
	
	//ColorSpacePoint*?pointsCloud?=?nullptr;
	IKinectSensor*?pSensor;
	ICoordinateMapper*?pCoordinateMapper;
	hResult?=?GetDefaultKinectSensor（&pSensor）;
	if?（FAILED（hResult））?{?cerr?<

	IMultiSourceframeReader*?m_pMultiframeReader;
//	IBodyframeSource*?m_pBodyframeSource;
	//IBodyframeReader*?m_pBodyframeReader;

	hResult?=?pSensor->Open（）;

	//pSensor->get_BodyframeSource（&m_pBodyframeSource）;
	//?獲取多數(shù)據(jù)源到讀取器??
	?pSensor->OpenMultiSourceframeReader（
		frameSourceTypes::frameSourceTypes_Color?|
		frameSourceTypes::frameSourceTypes_Infrared?|
		frameSourceTypes::frameSourceTypes_Depth
		&m_pMultiframeReader）;
	if?（FAILED（hResult））?{?cerr?<
	pSensor->get_CoordinateMapper（&pCoordinateMapper）;
	
	if?（FAILED（hResult））?{?cerr?<ameSource（）“?<	//?三個數(shù)據(jù)幀及引用
	IDepthframe*?m_pDepthframe?=?NULL;
	IColorframe*?m_pColorframe?=?NULL;
	IDepthframeReference*?m_pDepthframeReference?=?NULL;
	IColorframeReference*?m_pColorframeReference?=?NULL;
	ColorSpacePoint*????????m_pColorCoordinates?=?NULL;
//	CameraSpacePoint*????????m_pCameraCoordinates?=?NULL;
	IMultiSourceframe*?m_pMultiframe?=?NULL;//多源數(shù)據(jù)幀初始化
	
	//unsigned?int?bufferSize?=?depthWidth?*?depthHeight?*?sizeof（unsigned?short）;
	//Mat?bufferMat（depthHeight?depthWidth?CV_16SC1）;
	//Mat?depthMat（depthHeight?depthWidth?CV_8UC1）;
	//Mat?i_depthToRgb（424?512?CV_8UC4）;
	BYTE?*bgraData?=?new?BYTE[1080?*?1920?*?4];
	UINT16?*depthData?=?new?UINT16[424?*?512];
	//m_pCameraCoordinates?=?new?CameraSpacePoint[512?*?424];
	m_pColorCoordinates?=?new?ColorSpacePoint[512?*?424];
	//Mat?i_rgb（1080?1920?CV_8UC4）;
	//Mat?bufferMat;
	while?（1）
	{
		//frame
		//IDepthframe*?pDepthframe?=?nullptr;
		//?獲取新的一個多源數(shù)據(jù)幀
		hResult?=?m_pMultiframeReader->AcquireLatestframe（&m_pMultiframe）;
		//UINT16?*depthData?=?new?UINT16[424?*?512];
		if?（SUCCEEDED（hResult））
			hResult?=?m_pMultiframe->get_ColorframeReference（&m_pColorframeReference）;
		if?（SUCCEEDED（hResult））
			hResult?=?m_pColorframeReference->Acquireframe（&m_pColorframe）;
		if?（SUCCEEDED（hResult））
			hResult?=?m_pMultiframe->get_

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-09-15?14:00??mapTest\.vs\
?????目錄???????????0??2017-09-15?14:00??mapTest\.vs\mapTest\
?????目錄???????????0??2017-09-15?14:00??mapTest\.vs\mapTest\v14\
?????文件???????34304??2017-10-09?20:45??mapTest\.vs\mapTest\v14\.suo
?????目錄???????????0??2017-09-15?14:04??mapTest\Debug\
?????目錄???????????0??2017-09-15?14:00??mapTest\ipch\
?????目錄???????????0??2017-10-09?20:45??mapTest\ipch\MAPTEST-998847d6\
?????文件?????3538944??2017-09-15?14:00??mapTest\ipch\MAPTEST-998847d6\MAPTEST-42e9930a.ipch
?????文件?????3473408??2017-10-09?20:45??mapTest\ipch\MAPTEST-998847d6\MAPTEST-abf480e8.ipch
?????文件????53018624??2017-10-09?20:45??mapTest\mapTest.sdf
?????文件????????1303??2017-09-15?14:00??mapTest\mapTest.sln
?????文件????44785664??2017-09-25?15:13??mapTest\mapTest.VC.db
?????目錄???????????0??2017-10-09?20:45??mapTest\mapTest\
?????文件????????7338??2017-10-09?20:45??mapTest\mapTest\mapTest.cpp
?????文件????????8036??2017-10-09?20:45??mapTest\mapTest\mapTest.vcxproj
?????文件????????1314??2017-09-16?11:42??mapTest\mapTest\mapTest.vcxproj.filters
?????文件????????1510??2017-09-15?14:00??mapTest\mapTest\ReadMe.txt
?????文件????????7127??2017-09-15?16:50??mapTest\mapTest\showCloud.cpp
?????文件?????????211??2017-09-15?14:00??mapTest\mapTest\stdafx.cpp
?????文件?????????234??2017-09-15?14:00??mapTest\mapTest\stdafx.h
?????文件?????????240??2017-09-15?14:00??mapTest\mapTest\targetver.h
?????目錄???????????0??2017-09-15?15:00??mapTest\mapTest\x64\
?????目錄???????????0??2017-09-16?11:45??mapTest\mapTest\x64\Debug\
?????文件??????500260??2017-09-15?15:51??mapTest\mapTest\x64\Debug\Color.obj
?????文件??????298561??2017-09-15?15:19??mapTest\mapTest\x64\Debug\Depth.obj
?????文件?????????171??2017-09-16?11:45??mapTest\mapTest\x64\Debug\mapTest.log
?????文件??????524805??2017-09-16?11:45??mapTest\mapTest\x64\Debug\mapTest.obj
?????文件?????3407872??2017-09-15?15:06??mapTest\mapTest\x64\Debug\mapTest.pch
?????目錄???????????0??2017-09-16?11:45??mapTest\mapTest\x64\Debug\mapTest.tlog\
?????文件???????16160??2017-09-16?11:45??mapTest\mapTest\x64\Debug\mapTest.tlog\CL.command.1.tlog
?????文件??????150156??2017-09-16?11:45??mapTest\mapTest\x64\Debug\mapTest.tlog\CL.read.1.tlog
............此處省略13個文件信息