#include?“mykinect.h“
#include?
using?namespace?std;
using?namespace?cv;

///?Constructor?構(gòu)造函數(shù)
CMapBasics::CMapBasics（）
{
	sensor?=?NULL;
	mapper?=?NULL;
	reader?=?NULL;
	dpoint?=?NULL;

	//?create?heap?storage?for?color?pixel?data?in?RGBX?format??
	m_pColorRGBX?=?new?RGBQUAD[cColorWidth?*?cColorHeight];

	//?create?heap?storage?for?the?coorinate?mapping?from?color?to?depth??
	dpoint?=?new?DepthSpacePoint[cColorWidth?*?cColorHeight];

	//初始化OpenCV數(shù)組??
	depthImg.create（cDepthHeight?cDepthWidth?CV_8UC1）;
	colorImg.create（cColorHeight?cColorWidth?CV_8UC3）;

	depthImg.setTo（0）;?colorImg.setTo（0）;
}
///?Destructor??析構(gòu)函數(shù)

CMapBasics::~CMapBasics（）
{
	if?（m_pColorRGBX）
	{
		delete[]?m_pColorRGBX;
		m_pColorRGBX?=?NULL;
	}
	if?（dpoint）
	{
		delete[]?dpoint;
		dpoint?=?NULL;
	}
	//?done?with?frame?reader??
	SafeRelease（reader）;

	//?done?with?coordinate?mapper??
	SafeRelease（mapper）;

	if?（sensor）
	{
		sensor->Close（）;
	}
	SafeRelease（sensor）;
}

//?轉(zhuǎn)換depth圖像到Mat??
Mat?ConvertMat（const?UINT16*?pBuffer?int?nWidth?int?nHeight?USHORT?nMinDepth?USHORT?nMaxDepth）
{
	Mat?img（nHeight?nWidth?CV_8UC1）;
	uchar*?p_mat?=?img.data;

	const?UINT16*?pBufferEnd?=?pBuffer?+?（nWidth?*?nHeight）;
	while?（pBuffer?	{
		USHORT?depth?=?*pBuffer;

		//方法1：將符合邊界條件的uint16去尾賦值給Mat，不符合邊界的置0
		BYTE?intensity?=?static_cast（depth?>=?nMinDepth）?&&?（depth?<=?nMaxDepth）???depth?%?256?:?0;

		//方法2：直接將uint16去尾賦值給Mat
		//BYTE?intensity?=?depth?%?256;

		*p_mat?=?intensity;
		p_mat++;
		++pBuffer;
	}
	return?img;
}

//轉(zhuǎn)換color圖像到Mat?
Mat?ConvertMat（const?RGBQUAD*?pBuffer?int?nWidth?int?nHeight）
{
	Mat?img（nHeight?nWidth?CV_8UC3）;
	uchar*?p_mat?=?img.data;

	const?RGBQUAD*?pBufferEnd?=?pBuffer?+?（nWidth?*?nHeight）;

	while?（pBuffer?	{
		*p_mat?=?pBuffer->rgbBlue;
		p_mat++;
		*p_mat?=?pBuffer->rgbGreen;
		p_mat++;
		*p_mat?=?pBuffer->rgbRed;
		p_mat++;

		++pBuffer;
	}
	return?img;
}


int?main（）
{

	CMapBasics?myKinect;
	HRESULT?hr?=?myKinect.InitKinect（）;

	if?（SUCCEEDED（hr））{
		while?（1）{
			myKinect.Update（）;
		}

	}
	else{
		cout?<		system（“pause“）;
	}
}



HRESULT?CMapBasics::InitKinect（）
{
	HRESULT?hr;

	hr?=?GetDefaultKinectSensor（&sensor）;
	if?（FAILED（hr））
	{
		return?hr;
	}

	if?（sensor）
	{

		hr?=?sensor->Open（）;


		//?Initialize?the?Kinect?and?get?coordinate?mapper?and?the?frame?reader??
		if?（SUCCEEDED（hr））
		{
			hr?=?sensor->get_CoordinateMapper（&mapper）;
		}

		if?（SUCCEEDED（hr））
		{
			hr?=?sensor->OpenMultiSourceframeReader（
				frameSourceTypes::frameSourceTypes_Depth?|?frameSourceTypes::frameSourceTypes_Color?&reader）;
		}
	}

	if?（!sensor?||?FAILED（hr））
	{
		return?E_FAIL;
	}

	return?hr;
}

void?CMapBasics::Update（）
{
	if?（!reader）
	{
		return;
	}

	HRESULT?hr?=?reader->AcquireLatestframe（&pMultiSourceframe）;

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

?????文件???????1174??2016-05-21?16:05??registration\registration\mykinect.h

?????文件???????1346??2016-05-12?12:26??registration\registration\opencv2410x64.Debug.props

?????文件???????1247??2016-05-12?12:32??registration\registration\opencv2410x64.Release.props

?????文件??????41144??2016-05-12?15:18??registration\registration\PCLx64.Debug.props

?????文件???????7338??2016-05-20?11:17??registration\registration\registration.vcxproj

?????文件???????1065??2016-05-20?11:17??registration\registration\registration.vcxproj.filters

?????文件???????1912??2016-05-21?16:30??registration\registration\x64\Debug\registration.log

?????文件????????612??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\cl.command.1.tlog

?????文件??????27268??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\CL.read.1.tlog

?????文件????????488??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\CL.write.1.tlog

?????文件???????2080??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\link.command.1.tlog

?????文件???????5042??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\link.read.1.tlog

?????文件????????480??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\link.write.1.tlog

?????文件????????162??2016-05-21?16:30??registration\registration\x64\Debug\registration.tlog\registration.lastbuildstate

?????文件????1108992??2016-05-21?16:30??registration\registration\x64\Debug\vc120.idb

?????文件????1642496??2016-05-21?16:30??registration\registration\x64\Debug\vc120.pdb

?????文件?????331023??2016-05-21?16:30??registration\registration\x64\Debug\源.obj

?????文件???????1899??2016-05-22?13:43??registration\registration\x64\Release\registration.log

?????文件????????632??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\cl.command.1.tlog

?????文件??????27206??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\cl.read.1.tlog

?????文件????????366??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\cl.write.1.tlog

?????文件???????2116??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\link.command.1.tlog

?????文件???????5336??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\link.read.1.tlog

?????文件????????374??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\link.write.1.tlog

?????文件????????164??2016-05-22?13:43??registration\registration\x64\Release\registration.tlog\registration.lastbuildstate

?????文件????1249280??2016-05-22?13:43??registration\registration\x64\Release\vc120.pdb

?????文件????1401796??2016-05-22?13:43??registration\registration\x64\Release\源.obj

?????文件???????7069??2016-05-22?13:43??registration\registration\源.cpp

?????文件???45809664??2016-05-22?16:56??registration\registration.sdf

?????文件???????1336??2016-05-20?11:17??registration\registration.sln

............此處省略19個文件信息