diff --git a/Classes/Calibrator.cpp b/Classes/Calibrator.cpp
index 74dd772..cbf8fa2 100644
--- a/Classes/Calibrator.cpp
+++ b/Classes/Calibrator.cpp
@@ -16,11 +16,11 @@ Calibrator::~Calibrator()
 
 }
 
-void Calibrator::addFrameSequence(std::vector<cv::Mat> &frameSeq)
+void Calibrator::addFrameSequence(std::vector<Mat> &frameSeq)
 {
     int n = frameSeqs.size();
     frameSeqs.resize(n+1);
-    std::vector<cv::Mat> &frame = frameSeqs[n];
+    std::vector<Mat> &frame = frameSeqs[n];
     for(int i = 0; i < frameSeq.size(); i++)
     {
         frame.push_back(frameSeq[i]);
@@ -38,17 +38,17 @@ void Calibrator::reset()
 
 void Calibrator::setBoardRows(int rows) {
     board_rows = rows;
-    board_size = cv::Size(board_rows, board_cols);
+    board_size = Size(board_rows, board_cols);
 }
 
 void Calibrator::setBoardCols(int cols) {
     board_cols = cols;
-    board_size = cv::Size(board_rows, board_cols);
+    board_size = Size(board_rows, board_cols);
 }
 
 void Calibrator::setCornerSize(double cornerSize) {
     dot_dis = cornerSize;
-    corner_size = cv::Size2f(cornerSize, cornerSize);
+    corner_size = Size2f(cornerSize, cornerSize);
 }
 
 void Calibrator::setDotDiameter(double dotDiameter) {
@@ -66,7 +66,7 @@ CalibrationData* Calibrator::calibrate()
 //    detect corners ////////////////////////////////////
     for(int i = 0; i < frameSeqs.size(); i++)
     {
-        std::vector<cv::Point2f> corners = extract_board_corners( frameSeqs[i][0] );
+        std::vector<Point2f> corners = extract_board_corners( frameSeqs[i][0] );
         board_corners.push_back(corners);
 //        std::cout<<i<<" corners: "<<corners.size()<<std::endl;
 //        for(int j = 0; j < corners.size(); j++) {
@@ -75,12 +75,12 @@ CalibrationData* Calibrator::calibrate()
     }
 
 //    collect projector correspondences
-    std::vector<cv::Point2f> pcorners;
+    std::vector<Point2f> pcorners;
     for(int i = 0; i < frameSeqs.size(); i++)
     {
-        std::vector<cv::Point2f> const& corners = board_corners[i];
-        cv::Mat pattern_image;
-        cv::Mat min_max_image;
+        std::vector<Point2f> const& corners = board_corners[i];
+        Mat pattern_image;
+        Mat min_max_image;
         if(corners.size()==0)
         {
             projector_corners.push_back(pcorners);
@@ -95,25 +95,25 @@ CalibrationData* Calibrator::calibrate()
         }
 
         pattern_list.push_back(pattern_image);
-        for (std::vector<cv::Point2f>::const_iterator iter=corners.begin(); iter!=corners.end(); iter++)
+        for (std::vector<Point2f>::const_iterator iter=corners.begin(); iter!=corners.end(); iter++)
         {
-            const cv::Point2f & p = *iter;
-            cv::Point2f q;
+            const Point2f & p = *iter;
+            Point2f q;
             //find an homography around p
             unsigned WINDOW_SIZE = 30;
-            std::vector<cv::Point2f> img_points , proj_points;
+            std::vector<Point2f> img_points , proj_points;
             if (p.x>WINDOW_SIZE && p.y>WINDOW_SIZE && p.x+WINDOW_SIZE<pattern_image.cols && p.y+WINDOW_SIZE<pattern_image.rows)
             {
                 for (unsigned h=p.y-WINDOW_SIZE; h<p.y+WINDOW_SIZE; h++)
                 {
-                    register const cv::Vec2f * row = pattern_image.ptr<cv::Vec2f>(h);
-                    register const cv::Vec2b * min_max_row = min_max_image.ptr<cv::Vec2b>(h);
-                    //cv::Vec2f * out_row = out_pattern_image.ptr<cv::Vec2f>(h);
+                    register const Vec2f * row = pattern_image.ptr<Vec2f>(h);
+                    register const Vec2b * min_max_row = min_max_image.ptr<Vec2b>(h);
+                    //Vec2f * out_row = out_pattern_image.ptr<Vec2f>(h);
                     for (unsigned w=p.x-WINDOW_SIZE; w<p.x+WINDOW_SIZE; w++)
                     {
-                        const cv::Vec2f & pattern = row[w];
-                        const cv::Vec2b & min_max = min_max_row[w];
-                        //cv::Vec2f & out_pattern = out_row[w];
+                        const Vec2f & pattern = row[w];
+                        const Vec2b & min_max = min_max_row[w];
+                        //Vec2f & out_pattern = out_row[w];
                         if (std::isnan(pattern[0])>0 || std::isnan(pattern[1])>0)
                         {
                             continue;
@@ -123,16 +123,16 @@ CalibrationData* Calibrator::calibrate()
                             continue;
                         }
 
-                        img_points.push_back(cv::Point2f(w,  h));
-                        proj_points.push_back(cv::Point2f(pattern));
+                        img_points.push_back(Point2f(w,  h));
+                        proj_points.push_back(Point2f(pattern));
 
                         //out_pattern = pattern;
                     }
                 }
-                cv::Mat H = cv::findHomography(img_points , proj_points, cv::RANSAC);
+                Mat H = findHomography(img_points , proj_points, RANSAC);
 //                std::cout << " H:\n" << H << std::endl;
-                cv::Point3d Q = cv::Point3d(cv::Mat(H*cv::Mat(cv::Point3d(p.x , p.y , 1.0))));
-                q = cv::Point2f(Q.x/Q.z  ,Q.y/Q.z);
+                Point3d Q = Point3d(Mat(H*Mat(Point3d(p.x , p.y , 1.0))));
+                q = Point2f(Q.x/Q.z  ,Q.y/Q.z);
                 // jiuzheng
                 // q.y += 118;
                 pcorners.push_back(q);
@@ -159,15 +159,15 @@ CalibrationData* Calibrator::calibrate()
             count++;
         }
     }
-    std::vector<cv::Point3f> world_corners;
+    std::vector<Point3f> world_corners;
     for (int h=0; h<board_size.height; h++)
     {
         for (int w=0; w<board_size.width; w++)
         {
-           world_corners.push_back(cv::Point3f(corner_size.width * w,  corner_size.height * h , 0.f));
+           world_corners.push_back(Point3f(corner_size.width * w,  corner_size.height * h , 0.f));
         }
     }
-    std::vector<std::vector<cv::Point3f> > objectPoints;
+    std::vector<std::vector<Point3f> > objectPoints;
     objectPoints.reserve(count);
     for (unsigned i=0; i<count; i++)
     {
@@ -175,16 +175,16 @@ CalibrationData* Calibrator::calibrate()
     }
 
     //generate world object coordinates
-    std::vector<cv::Point3f> world_corners_p;
+    std::vector<Point3f> world_corners_p;
     for (int h=0; h<board_size.height; h++)
     {
         for (int w=0; w<board_size.width; w++)
         {
-            world_corners_p.push_back(cv::Point3f(corner_size.width * w , corner_size.height * h  ,0.f));
+            world_corners_p.push_back(Point3f(corner_size.width * w , corner_size.height * h  ,0.f));
         }
     }
 
-    std::vector<std::vector<cv::Point3f> > objectPoints_p;
+    std::vector<std::vector<Point3f> > objectPoints_p;
     objectPoints_p.reserve(count);
     for (unsigned i=0; i<count; i++)
     {
@@ -196,48 +196,48 @@ CalibrationData* Calibrator::calibrate()
     pattern_list.resize(count);
 
     int cal_flags = 0
-                  //+ cv::CALIB_FIX_K1
-                  //+ cv::CALIB_FIX_K2
-                  //+ cv::CALIB_ZERO_TANGENT_DIST
-                  + cv::CALIB_FIX_K3
+                  //+ CALIB_FIX_K1
+                  //+ CALIB_FIX_K2
+                  //+ CALIB_ZERO_TANGENT_DIST
+                  + CALIB_FIX_K3
                   ;
     //calibrate the camera ////////////////////////////////////
-    std::vector<cv::Mat> cam_rvecs , cam_tvecs;
+    std::vector<Mat> cam_rvecs , cam_tvecs;
     int cam_flags = cal_flags;
-    cv::Size imageSize = frameSeqs[0][0].size();
-    res->cam_error = cv::calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc  ,cam_rvecs , cam_tvecs);
+    Size imageSize = frameSeqs[0][0].size();
+    res->cam_error = calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc  ,cam_rvecs , cam_tvecs);
     std::cout<<"calibrate the camera !"<<std::endl;
 
     //calibrate the projector ////////////////////////////////////
-    std::vector<cv::Mat> proj_rvecs , proj_tvecs;
+    std::vector<Mat> proj_rvecs , proj_tvecs;
     int proj_flags = cal_flags;
-    cv::Size projector_size(912, 1140);
-    res->proj_error = cv::calibrateCamera(objectPoints_p , projector_corners, projector_size , res->Kp , res->kp , proj_rvecs , proj_tvecs);
+    Size projector_size(912, 1140);
+    res->proj_error = calibrateCamera(objectPoints_p , projector_corners, projector_size , res->Kp , res->kp , proj_rvecs , proj_tvecs);
 
     std::cout<<"calibrate the projector !"<<std::endl;
     //stereo calibration
-    cv::Mat E,  F;
-    res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners ,
+    Mat E,  F;
+    res->stereo_error = stereoCalibrate(objectPoints , board_corners , projector_corners ,
                                             res->Kc , res->kc , res->Kp  ,res->kp  ,imageSize /*ignored*/ ,
                                             res->Rp , res->Tp , E , F );
-//    res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners , res->Kc , res->kc , res->Kp  ,res->kp  ,imageSize /*ignored*/ , res->Rp , res->Tp , E , F ,
-//                                                    cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS  ,50  ,DBL_EPSILON) ,
-//                                                    cv::CALIB_FIX_INTRINSIC /*cv::CALIB_USE_INTRINSIC_GUESS + cal_flags*/);
+//    res->stereo_error = stereoCalibrate(objectPoints , board_corners , projector_corners , res->Kc , res->kc , res->Kp  ,res->kp  ,imageSize /*ignored*/ , res->Rp , res->Tp , E , F ,
+//                                                    TermCriteria(TermCriteria::COUNT + TermCriteria::EPS  ,50  ,DBL_EPSILON) ,
+//                                                    CALIB_FIX_INTRINSIC /*CALIB_USE_INTRINSIC_GUESS + cal_flags*/);
     std::cout<<"stereo calibration !"<<std::endl;
 
 
-	cv::FileStorage fsc("rtc.xml", cv::FileStorage::WRITE);
-	cv::FileStorage fsp("rtp.xml", cv::FileStorage::WRITE);
+	FileStorage fsc("rtc.xml", FileStorage::WRITE);
+	FileStorage fsp("rtp.xml", FileStorage::WRITE);
 
 	// objectPoints  projector_corners  board_corners
 	std::ofstream opout("objectPoints.txt");
 	std::ofstream pcout("projector_corners.txt");
 	std::ofstream ccout("board_corners.txt");
 	for (int i = 0; i < objectPoints.size(); i++) {
-		fsc << "R" + std::to_string(i) << cv::Mat(cam_rvecs[i]);
-		fsc << "T" + std::to_string(i) << cv::Mat(cam_tvecs[i]);
-		fsp << "R" + std::to_string(i) << cv::Mat(proj_rvecs[i]);
-		fsp << "T" + std::to_string(i) << cv::Mat(proj_tvecs[i]);
+		fsc << "R" + std::to_string(i) << Mat(cam_rvecs[i]);
+		fsc << "T" + std::to_string(i) << Mat(cam_tvecs[i]);
+		fsp << "R" + std::to_string(i) << Mat(proj_rvecs[i]);
+		fsp << "T" + std::to_string(i) << Mat(proj_tvecs[i]);
 		for (int j = 0; j < objectPoints[i].size(); j++) {
 			opout << objectPoints[i][j] << std::endl;
 			pcout << projector_corners[i][j] << std::endl;
@@ -254,24 +254,24 @@ CalibrationData* Calibrator::calibrate()
 
 }
 
-std::vector<cv::Point2f> Calibrator::extract_board_corners(cv::Mat &gray_image)
+std::vector<Point2f> Calibrator::extract_board_corners(Mat &gray_image)
 {
-    std::vector<cv::Point2f> corners;
+    std::vector<Point2f> corners;
     int image_scale = 1;
     if (gray_image.rows<1)
     {
         return corners;
     }
-    cv::Size imageSize = gray_image.size();
+    Size imageSize = gray_image.size();
     if (imageSize.width>1024)
     {
         image_scale = imageSize.width/1024;
     }
 
-    cv::Mat small_img;
+    Mat small_img;
     if (image_scale>1)
     {
-        cv::resize(gray_image , small_img , cv::Size(gray_image.cols/image_scale , gray_image.rows/image_scale));
+        resize(gray_image , small_img , Size(gray_image.cols/image_scale , gray_image.rows/image_scale));
     }
     else
     {
@@ -279,27 +279,27 @@ std::vector<cv::Point2f> Calibrator::extract_board_corners(cv::Mat &gray_image)
     }
 
     if(board_type == Chessboard) {
-        cv::findChessboardCorners(small_img, board_size, corners);
+        findChessboardCorners(small_img, board_size, corners);
     }
     else if(board_type == Circular) {
-        cv::findCirclesGrid(small_img, board_size, corners);
+        findCirclesGrid(small_img, board_size, corners);
     }
 
     if (corners.size())
     {
-        for (std::vector<cv::Point2f>::iterator iter=corners.begin(); iter!=corners.end(); iter++)
+        for (std::vector<Point2f>::iterator iter=corners.begin(); iter!=corners.end(); iter++)
         {
             *iter = image_scale*(*iter);
         }
-        cv::cornerSubPix(gray_image , corners , cv::Size(11 , 11) , cv::Size(-1 , -1) ,
-                            cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30 , 0.1));
+        cornerSubPix(gray_image , corners , Size(11 , 11) , Size(-1 , -1) ,
+                            TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30 , 0.1));
     }
 
     return corners;
 }
 
 
-bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image,  cv::Mat & min_max_image)
+bool Calibrator::decode_gray_set(int ind , Mat & pattern_image,  Mat & min_max_image)
 {
     if (ind >= frameSeqs.size())
     {   //out of bounds
@@ -308,7 +308,7 @@ bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image,  cv::Mat & m
 
     //estimate direct component
     //b = config.value("robust_estimation/b"  DEFAULT_B).toFloat();
-    std::vector<cv::Mat> images;
+    std::vector<Mat> images;
 //    QList<unsigned> direct_component_images(QList<unsigned>() << 15 << 16 << 17 << 18 << 35 << 36 << 37 << 38);
     int total_images = frameSeqs[ind].size();
     int total_patterns = total_images/2 - 1;
@@ -326,12 +326,12 @@ bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image,  cv::Mat & m
     {
         images.push_back(frameSeqs[ind][i]);
     }
-    cv::Mat direct_light = sl::estimate_direct_light(images,  b);
+    Mat direct_light = sl::estimate_direct_light(images,  b);
 
     //m = config.value("robust_estimation/m"  DEFAULT_M).toUInt();
 //    return sl::decode_pattern(frameSeqs[ind] , pattern_image , min_max_image , sl::RobustDecode|sl::GrayPatternDecode , direct_light,  m);
 
-    cv::Size projector_size(912, 1140);
+    Size projector_size(912, 1140);
     bool rv = sl::decode_pattern(frameSeqs[ind], pattern_image, min_max_image, projector_size, sl::RobustDecode|sl::GrayPatternDecode, direct_light, m);
     return rv;
 }
diff --git a/Classes/MyThread.cpp b/Classes/MyThread.cpp
index 2a8e0c1..72d4bba 100644
--- a/Classes/MyThread.cpp
+++ b/Classes/MyThread.cpp
@@ -13,6 +13,9 @@ void MyThread::run()
 		io::loadPCDFile(pcd, *cloudPtr);
 		cloud = *cloudPtr;
 	}
+
+	auto pclData = PointCloudData::getInstance(cloud);
+	pclData->setCloud(cloud);
 	
 
 }
diff --git a/Classes/MyThread.h b/Classes/MyThread.h
index 5bd2437..271ec9d 100644
--- a/Classes/MyThread.h
+++ b/Classes/MyThread.h
@@ -3,6 +3,7 @@
 #include <qthread.h>
 #include <pcl/point_types.h>
 #include <pcl/io/vtk_lib_io.h>
+#include "PointCloudData.h"
 
 using namespace std;
 using namespace pcl;
diff --git a/Classes/PointCloudData.cpp b/Classes/PointCloudData.cpp
new file mode 100644
index 0000000..c68f3fc
--- /dev/null
+++ b/Classes/PointCloudData.cpp
@@ -0,0 +1,70 @@
+#include "PointCloudData.h"
+
+PointCloudData* PointCloudData::instance = nullptr;
+
+PointCloudData::PointCloudData(PointCloud<PointXYZRGB> cloudArg)
+{
+	cloud = cloudArg;
+	num = 0;
+}
+
+PointCloudData* PointCloudData::getInstance(PointCloud<PointXYZRGB> cloudArg)
+{
+	if (instance == nullptr) instance = new PointCloudData(cloudArg);
+	return instance;
+}
+
+PointCloudData* PointCloudData::getInstance()
+{
+	return instance;
+}
+
+PointCloud<PointXYZRGB> PointCloudData::getCloud() const{
+	return cloud;
+}
+	
+void PointCloudData::setCloud(PointCloud<PointXYZRGB> cloudArg){
+	cloud= cloudArg;
+}
+
+boost::shared_ptr<visualization::PCLVisualizer> PointCloudData::getViewer()
+{
+	return viewer;
+}
+
+
+void PointCloudData::setViewer(boost::shared_ptr<visualization::PCLVisualizer> viewerArg)
+{
+	viewer = viewerArg;
+}
+
+std::vector<int> PointCloudData::getIndices()
+{
+	return indices;
+}
+
+void PointCloudData::setIndices(std::vector<int> indicesArg)
+{
+	indices = indicesArg;
+}
+
+Ui::ReconstructionClass PointCloudData::getUI()
+{
+	return ui;
+}
+
+void PointCloudData::setUI(Ui::ReconstructionClass uiArg)
+{
+	ui = uiArg;
+}
+
+int PointCloudData::getNum()
+{
+	return num;
+}
+
+void PointCloudData::setNum()
+{
+	num++;
+}
+
diff --git a/Classes/PointCloudData.h b/Classes/PointCloudData.h
new file mode 100644
index 0000000..c7d10a4
--- /dev/null
+++ b/Classes/PointCloudData.h
@@ -0,0 +1,35 @@
+#pragma once
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/io/vtk_lib_io.h>
+#include "Reconstruction.h"
+
+using namespace pcl;
+
+class PointCloudData
+{
+private:
+	PointCloudData(PointCloud<PointXYZRGB> cloudArg);
+	~PointCloudData(){};
+	PointCloud<PointXYZRGB> cloud;
+	boost::shared_ptr<visualization::PCLVisualizer> viewer;
+	std::vector<int> indices;
+	Ui::ReconstructionClass ui;
+	int num;// 用于框选删除点云的名称
+	
+public:
+	static PointCloudData* getInstance();
+	static PointCloudData* getInstance(PointCloud<PointXYZRGB> cloudArg);
+	static PointCloudData* instance ;
+	PointCloud<PointXYZRGB> getCloud() const;
+	void setCloud(PointCloud<PointXYZRGB> cloudArg);
+	boost::shared_ptr<visualization::PCLVisualizer> getViewer();
+	void setViewer(boost::shared_ptr<visualization::PCLVisualizer> viewerArg);
+	std::vector<int> getIndices();
+	void setIndices(std::vector<int> indicesArg);
+	Ui::ReconstructionClass getUI();
+	void setUI(Ui::ReconstructionClass uiArg);
+	int getNum();
+	void setNum();
+};
diff --git a/Classes/Reconstruction.cpp b/Classes/Reconstruction.cpp
index 4961653..69b1854 100644
--- a/Classes/Reconstruction.cpp
+++ b/Classes/Reconstruction.cpp
@@ -134,42 +134,98 @@ void Reconstruction::on_pushButton_3_clicked()
 #pragma endregion
 
 #pragma region 多线程
+// 点云框选回调函数
+void pp_callback(const visualization::AreaPickingEvent& event, void* args)
+{
+	auto pclData = PointCloudData::getInstance();
+	PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
+	cloudPtr = pclData->getCloud().makeShared();
+	int num = pclData->getNum();
+	std::vector<int> indices;
+
+	if (event.getPointsIndices(indices) == -1)
+		return;
+	// cout << indices.size() << "\n";
+	PointCloud<PointXYZRGB>::Ptr clicked_points_3d(new PointCloud<PointXYZRGB>);
+	for (int i = 0; i < indices.size(); ++i)
+	{
+		clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
+	}
+	visualization::PointCloudColorHandlerCustom<PointXYZRGB> red(clicked_points_3d, 255, 0, 0);
+	std::stringstream ss;
+	std::string cloudName;
+	pclData->setNum();
+	ss <<num++;
+	ss >> cloudName;
+	cloudName += "_cloudName";
+
+	pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
+	pclData->getViewer()->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
+	// pclData->getViewer()->updatePointCloud(clicked_points_3d,"cloudName");
+	pclData->setIndices(indices);
+	pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
+	pclData->getUI().qvtkWidget->update();
+	
+}
+
 void Reconstruction::setCloud()
 {
 	cout << cloud.width;
 	ui.label_9->setVisible(false);
-	
-	if(loadingStatus)
+
+	if (loadingStatus)
 	{
 		cloud = t->getCloud();
 		loadingStatus = false;
 	}
 
-	if(reconstructStatus)
+	if (reconstructStatus)
 	{
 		reconstructStatus = false;
 	}
 	cout << cloud[0].r;
-	
+
 	updateQVTK(cloud, color);
 }
 
 void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
 {
-	boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
-	viewer->setBackgroundColor(0.458, 0.529, 0.844);
-	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
+	boost::shared_ptr<visualization::PCLVisualizer> viewer;
+	visualization::Camera camera;
+	if (PointCloudData::getInstance() != nullptr)
+	{
+		auto pclData = PointCloudData::getInstance();
+		pclData->setCloud(cloud);
+		pclData->getViewer()->getCameraParameters(camera);
+		cout<<cloud.size()<<"," << camera.pos[0] << "," << camera.pos[1] << "," << camera.pos[2] << "," << camera.view[0] <<
+			"," << camera.view[1] << "," << camera.view[2] << "\n";
+		viewer = pclData->getViewer();
+	}
+	else
+	{
+		boost::shared_ptr<visualization::PCLVisualizer> viewerArg(new visualization::PCLVisualizer("3D Viewer"));
+		viewer=viewerArg;
+		viewer->setBackgroundColor(0.458, 0.529, 0.844);
+		auto pclData = PointCloudData::getInstance(cloud);
+		pclData->setViewer(viewer);
+		pclData->setUI(ui);
+	}
+	double size=1;
+	viewer->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
+	viewer->removeAllPointClouds();
+	// viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
 	if (cloud.size() != 0)
 	{
 		PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
 		cloudPtr = cloud.makeShared();
-
 		int x = int(color.redF() * 255);
 		int y = int(color.greenF() * 255);
 		int z = int(color.blueF() * 255);
-		visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z);// 统一处理点云颜色
+		visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z); // 统一处理点云颜色
 		viewer->addPointCloud(cloudPtr, cloud_color, "cloud");
-		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
+		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
+		// viewer->setCameraPosition(camera.pos[0], camera.pos[1], camera.pos[2], camera.view[0], camera.view[1], camera.view[2],0,0,1);
+		viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
 	}
 	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
 	ui.qvtkWidget->update();
@@ -562,7 +618,7 @@ void Reconstruction::on_pushButton_10_clicked()
 
 			screen->grabWindow(ui.label_21->winId()).save(fileName);
 
-			
+
 			// QImage iim(picPath); //创建一个图片对象,存储源图片
 			// QPainter painter(&iim); //设置绘画设备
 			// QFile file(fileName); //创建一个文件对象，存储用户选择的文件
@@ -582,7 +638,6 @@ void Reconstruction::on_pushButton_10_clicked()
 		QMessageBox mesg;
 		mesg.warning(this, "WARNING", "Haven't taken picture!");
 	}
-	
 }
 
 // 开始重建
@@ -610,15 +665,31 @@ void Reconstruction::on_pushButton_11_clicked()
 void Reconstruction::on_pushButton_12_clicked()
 {
 	// todo 异常点剔除
+	auto pclData = PointCloudData::getInstance();
+	// cloud = pclData->getCloud();
+	auto indices = pclData->getIndices();
+	for (auto i = 0; i < indices.size(); ++i)
+	{
+		// cout << "i:" << i << " indices:" << indices[i] << " diff:" << indices[i]-i << "\n";
+		auto index = cloud.begin() + (indices[i] - i);
+		// cout << "size:" << cloudPtr->size() << ",index:" << indices[i] - i<<"\n" ;
+		if (indices[i] - i >= cloud.size())break;
+		cloud.erase(index);
+	}
+	indices.clear();
+	pclData->setIndices(indices);
+	pclData->setCloud(cloud);
+	updateQVTK(cloud, color);
+	// pclData->getViewer()->updatePointCloud();
 }
 
 // 导入点云
 void Reconstruction::on_pushButton_13_clicked()
 {
-	if (loadingStatus)
+	if (loadingStatus || reconstructStatus)
 	{
 		QMessageBox mesg;
-		mesg.warning(this, "WARNING", "正在加载… ");
+		mesg.warning(this, "WARNING", "There is a Point Cloud Loading.");
 		return;
 	}
 
@@ -632,7 +703,11 @@ void Reconstruction::on_pushButton_13_clicked()
 		mesg.warning(this, "WARNING", "Failed to open file");
 		return;
 	}
-
+	boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
+	viewer->setBackgroundColor(0.458, 0.529, 0.844);
+	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
+	auto pclData = PointCloudData::getInstance(cloud);
+	pclData->setViewer(viewer);
 	ui.label_9->setVisible(true);
 	QCoreApplication::processEvents();
 	t->setPcd(fileName);
@@ -667,8 +742,10 @@ void Reconstruction::on_pushButton_15_clicked()
 // 颜色选取
 void Reconstruction::on_pushButton_16_clicked()
 {
+	auto pclData = PointCloudData::getInstance(cloud);
 	QColor colortmp = QColorDialog::getColor(Qt::black);
-	if (colortmp.isValid()) {
+	if (colortmp.isValid())
+	{
 		color = colortmp;
 		updateQVTK(cloud, color);
 	}
diff --git a/Classes/Reconstruction.h b/Classes/Reconstruction.h
index 7577eb6..0bea43d 100644
--- a/Classes/Reconstruction.h
+++ b/Classes/Reconstruction.h
@@ -27,6 +27,7 @@
 #include "CoreAlgorithm.h"
 #include "MyThread.h"
 #include "YourThread.h"
+#include "PointCloudData.h"
 #include "Help.h"
 #include <iostream>
 using namespace pcl;
diff --git a/Classes/YourThread.cpp b/Classes/YourThread.cpp
index f2de1fd..e6a5309 100644
--- a/Classes/YourThread.cpp
+++ b/Classes/YourThread.cpp
@@ -63,4 +63,7 @@ void YourThread::run()
 		cloud->points[i].z = coordinates[index].at<float>(0, 2);
 		index++;
 	}
+	
+	auto pclData = PointCloudData::getInstance(*cloud);
+	pclData->setCloud(*cloud);
 }
\ No newline at end of file
diff --git a/Classes/YourThread.h b/Classes/YourThread.h
index 581617b..442cd92 100644
--- a/Classes/YourThread.h
+++ b/Classes/YourThread.h
@@ -4,6 +4,7 @@
 #include <pcl/point_types.h>
 #include <pcl/io/vtk_lib_io.h>
 #include "CoreAlgorithm.h"
+#include "PointCloudData.h"
 
 using namespace std;
 using namespace pcl;
diff --git a/Data/result/1.pcd b/Data/result/1.pcd
new file mode 100644
index 0000000..3abc336
--- /dev/null
+++ b/Data/result/1.pcd
@@ -0,0 +1,3071 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z
+SIZE 4 4 4
+TYPE F F F
+COUNT 1 1 1
+WIDTH 3060
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 3060
+DATA ascii
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diff --git a/Data/result/ball.pcd b/Data/result/ball.pcd
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diff --git a/Data/result/bunny.pcd b/Data/result/bunny.pcd
new file mode 100644
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diff --git a/Data/result/table_scene_lms400.pcd b/Data/result/table_scene_lms400.pcd
new file mode 100644
index 0000000..5631e4b
Binary files /dev/null and b/Data/result/table_scene_lms400.pcd differ
diff --git a/Reconstruction.vcxproj b/Reconstruction.vcxproj
index 5930e96..b42d371 100644
--- a/Reconstruction.vcxproj
+++ b/Reconstruction.vcxproj
@@ -131,6 +131,7 @@
     <ClCompile Include="Classes\log2.cpp" />
     <ClCompile Include="Classes\main.cpp" />
     <ClCompile Include="Classes\MyThread.cpp" />
+    <ClCompile Include="Classes\PointCloudData.cpp" />
     <ClCompile Include="Classes\ProjectorLC4500.cpp" />
     <ClCompile Include="Classes\Reconstruction.cpp" />
     <ClCompile Include="Classes\rtGetInf.cpp" />
@@ -156,6 +157,7 @@
     <ClInclude Include="Classes\Camera.h" />
     <ClInclude Include="Classes\CameraPointGrey.h" />
     <ClInclude Include="Classes\CameraArguments.h" />
+    <ClInclude Include="Classes\PointCloudData.h" />
     <ClInclude Include="Classes\YourThread.h" />
     <QtMoc Include="Classes\Loading.h" />
     <QtMoc Include="Classes\DisplayPic.h" />
diff --git a/Reconstruction.vcxproj.filters b/Reconstruction.vcxproj.filters
index a9b71a5..9698949 100644
--- a/Reconstruction.vcxproj.filters
+++ b/Reconstruction.vcxproj.filters
@@ -59,6 +59,9 @@
     <Filter Include="src\reconstruction\projector">
       <UniqueIdentifier>{762af5a3-10df-4dc7-8ce8-ed2501d9eb12}</UniqueIdentifier>
     </Filter>
+    <Filter Include="src\reconstruction\pointcloud">
+      <UniqueIdentifier>{cdf9f84f-4a3a-4fc8-b596-038eb3990675}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="UI\Reconstruction.ui">
@@ -81,9 +84,6 @@
     <ClCompile Include="Classes\Reconstruction.cpp">
       <Filter>src</Filter>
     </ClCompile>
-    <ClCompile Include="Classes\CameraArguments.cpp">
-      <Filter>src\reconstruction</Filter>
-    </ClCompile>
     <ClCompile Include="Classes\Loading.cpp">
       <Filter>src\scene\loadingscene</Filter>
     </ClCompile>
@@ -198,6 +198,12 @@
     <ClCompile Include="Classes\YourThread.cpp">
       <Filter>src\scene\mainscene</Filter>
     </ClCompile>
+    <ClCompile Include="Classes\CameraArguments.cpp">
+      <Filter>src\reconstruction\calibrator</Filter>
+    </ClCompile>
+    <ClCompile Include="Classes\PointCloudData.cpp">
+      <Filter>src\reconstruction\pointcloud</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="Classes\Reconstruction.h">
@@ -219,9 +225,6 @@
     </QtRcc>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="Classes\CameraArguments.h">
-      <Filter>src\reconstruction</Filter>
-    </ClInclude>
     <ClInclude Include="Classes\cwt_emxAPI.h">
       <Filter>src\reconstruction\cwt</Filter>
     </ClInclude>
@@ -345,5 +348,11 @@
     <ClInclude Include="Classes\YourThread.h">
       <Filter>src\scene\mainscene</Filter>
     </ClInclude>
+    <ClInclude Include="Classes\CameraArguments.h">
+      <Filter>src\reconstruction\calibrator</Filter>
+    </ClInclude>
+    <ClInclude Include="Classes\PointCloudData.h">
+      <Filter>src\reconstruction\pointcloud</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/et --soft HEAD^q b/et --soft HEAD^q
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index f35caae..0000000
--- a/et --soft HEAD^q	
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-    add some function of reconstruciton
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-Date:   Mon Feb 3 15:37:04 2020 +0800
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-    ui 0.3 娣诲姞鍥炬鎶曞奖鎷嶇収鍚庡睍绀虹収鐗囩殑鐣岄潰 DisplayPic
-
-commit f4d6cc81b5ecb87d6c948d3bece5deac426771e1
-Merge: 178c1ac1 257aed70
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Sat Feb 1 21:46:27 2020 +0800
-
-    Merge branch 'master' of https://github.com/Tang1705/Reconstruction
-
-commit 178c1ac179e3e0138882089e448046e978db24b2
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Sat Feb 1 21:26:08 2020 +0800
-
-    ui 0.2 娣诲姞loading鐣岄潰 寰呯編瑙�
-
-commit 257aed703040f85b81b2d7f08a8cd86b23ba99d5
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sat Feb 1 18:35:26 2020 +0800
-
-    add camera arguments class
-
-commit c0cb15818bdb0a49dd3ea87b95c80f11aafb611e
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Fri Jan 31 22:47:57 2020 +0800
-
-    ui 0.1 缁х画鎸夐挳濉厖
-
-commit 897fa805822ba731f3c650ae8a01d0ef223d36e8
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Fri Jan 31 22:19:08 2020 +0800
-
-    ui 0.1 閮ㄥ垎鎸夐挳濉厖 + bug淇
-
-commit 7d4d5f742313936c61154a284315957f3e8b4508
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Thu Jan 30 23:04:10 2020 +0800
-
-    ui 0.1
-
-commit 1fc76542f76abb89be52c023113244da5a05e149
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Wed Jan 29 17:40:22 2020 +0800
-
-    fix errors
-
-commit a53f2ed8c52294a02b04bf110b4af522b9df9d84
-Merge: a71fa476 54c5864e
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 20:21:47 2020 +0800
-
-    Merge branch 'master' of https://github.com/Tang1705/Reconstruction
-
-commit a71fa476202ab6800a3800b5807ec4db7962f8c9
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 20:20:56 2020 +0800
-
-    add part of opencv
-
-commit 54c5864e7e7f938f4320b0742628ea5484c65762
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 19:26:57 2020 +0800
-
-    add part of opencv
-
-commit 0c4ac1d8bb49f7eb98fb4e7e8866902df639dcdb
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 18:56:50 2020 +0800
-
-    add flycapture
-
-commit 1b7d21abf5549c3272e874777ec3774fa105b401
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sun Jan 26 18:08:38 2020 +0800
-
-    add lib
-
-commit 9f79c4a67939400e003a9a4a5b1411ff2aef9e0b
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sun Jan 26 17:45:44 2020 +0800
-
-    init project
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--22.382 79.5329 990.916 5.53174e-40
--21.8783 79.3695 988.881 5.53174e-40
--21.3711 79.1867 986.603 3.69503e-40
--20.9165 79.1949 986.704 3.69503e-40
--20.4618 79.2028 986.803 4.62059e-40
--20.0069 79.2106 986.901 4.617e-40
--19.5519 79.2183 986.996 5.56412e-40
--19.0968 79.2259 987.091 5.56412e-40
--18.6416 79.2334 987.185 6.50762e-40
--17.7309 79.2483 987.37 7.44031e-40
--17.2754 79.2556 987.461 7.44389e-40
--16.8198 79.2629 987.552 7.41873e-40
--16.3641 79.2702 987.643 7.42231e-40
--15.9083 79.2774 987.733 5.5461e-40
--15.4525 79.2846 987.822 5.5461e-40
--14.9965 79.2917 987.911 4.61338e-40
--14.5405 79.2989 988 4.61338e-40
--11.2983 79.6217 992.022 6.53281e-40
--14.0843 79.306 988.089 4.61335e-40
--13.6281 79.313 988.177 4.61335e-40
--13.1718 79.3201 988.264 3.70222e-40
--12.7154 79.327 988.351 3.70222e-40
--12.2589 79.334 988.438 4.64219e-40
--11.8024 79.3409 988.524 4.64578e-40
--11.3457 79.3477 988.609 6.53281e-40
--10.5874 80.5428 1003.5 8.37664e-40
--9.9752 79.3679 988.86 8.37664e-40
--9.5182 79.3744 988.942 8.35503e-40
--9.06111 79.3809 989.023 8.35144e-40
--8.60393 79.3873 989.102 6.4716e-40
--8.14667 79.3936 989.18 6.4716e-40
--7.68932 79.3997 989.257 4.61693e-40
--7.2319 79.4057 989.332 4.61693e-40
--6.77438 79.4116 989.405 3.6986e-40
--4.14155 79.8054 994.312 7.44758e-40
--6.31679 79.4173 989.475 3.69501e-40
--5.85912 79.4228 989.544 3.70223e-40
--5.39692 79.3626 988.794 3.70223e-40
--4.93899 79.3599 988.761 4.64937e-40
--4.48107 79.3569 988.724 4.64937e-40
--3.61829 80.5292 1003.33 7.45475e-40
--3.15362 80.5246 1003.27 8.37304e-40
--2.68898 80.5195 1003.21 8.36945e-40
--2.19182 79.335 988.451 7.42589e-40
--1.73409 79.3291 988.376 7.42589e-40
--1.27565 79.2748 987.7 5.54247e-40
--0.818312 79.2669 987.601 5.54247e-40
--0.361065 79.2587 987.5 5.53528e-40
-0.0960878 79.2504 987.396 5.5317e-40
-0.553143 79.2419 987.29 4.6098e-40
-1.0101 79.2332 987.182 4.6098e-40
-1.46695 79.2244 987.072 6.44648e-40
-3.00916 79.992 996.636 2.0229e-39
-1.9237 79.2153 986.959 6.44648e-40
-2.38033 79.2062 986.845 1.28822e-39
-3.34205 80.3604 1001.23 2.0229e-39
-3.8051 80.3505 1001.1 2.0229e-39
-4.26803 80.3404 1000.98 2.0229e-39
-4.73083 80.3303 1000.85 2.0229e-39
-5.19352 80.3201 1000.72 1.10383e-39
-8.46941 80.7175 1005.67 4.64217e-40
--18.9576 80.0508 991.646 6.49678e-40
--18.844 80.3034 994.775 6.49678e-40
--18.3815 80.2946 994.666 6.50396e-40
--17.9191 80.2859 994.559 6.48597e-40
--17.4568 80.2774 994.453 6.49314e-40
--16.9946 80.269 994.349 5.5425e-40
--16.5326 80.2607 994.247 5.54609e-40
--16.0707 80.2526 994.146 4.60977e-40
--11.6183 80.1866 993.329 7.44026e-40
--15.6089 80.2446 994.046 4.61335e-40
--15.1445 80.2227 993.775 4.61337e-40
--14.6836 80.2178 993.716 4.61337e-40
--14.2227 80.2134 993.66 4.61694e-40
--13.762 80.2093 993.61 4.62053e-40
--13.3014 80.2055 993.563 3.71661e-40
--12.8409 80.2021 993.52 3.7202e-40
--12.3804 80.1989 993.48 5.58925e-40
--11.9201 80.1959 993.444 5.59642e-40
--11.4598 80.1932 993.41 7.44026e-40
--10.9975 80.1761 993.198 7.45103e-40
--10.5385 80.1817 993.268 7.41514e-40
--10.0794 80.1876 993.341 7.4259e-40
--9.62024 80.1937 993.417 7.38278e-40
--9.16107 80.2001 993.496 7.38637e-40
--8.70185 80.2068 993.578 4.61335e-40
--8.24282 80.216 993.692 4.61694e-40
--4.42501 80.364 995.526 7.43669e-40
--7.78425 80.231 993.878 3.69143e-40
--7.32553 80.2463 994.068 3.69501e-40
--6.86666 80.2618 994.261 4.61697e-40
--6.40764 80.2778 994.458 4.62056e-40
--5.94846 80.2941 994.659 3.72022e-40
--5.48912 80.3107 994.866 3.72381e-40
--5.02962 80.3278 995.078 5.58922e-40
--4.56995 80.3454 995.296 5.59281e-40
--4.1101 80.3635 995.52 7.43669e-40
--3.65007 80.3822 995.751 7.44745e-40
--3.18985 80.4014 995.99 7.40433e-40
--2.72944 80.4214 996.237 7.41151e-40
--2.26992 80.4811 996.976 5.5353e-40
--1.80892 80.5056 997.28 5.53888e-40
--1.34764 80.5306 997.589 4.60977e-40
-2.49356 80.6267 998.781 1.74739e-39
--0.88609 80.556 997.904 4.60977e-40
--0.424247 80.5819 998.226 4.60975e-40
-0.0378932 80.6084 998.553 4.60975e-40
-0.50034 80.6353 998.887 5.52812e-40
-0.963101 80.6627 999.226 5.53171e-40
-1.42619 80.6906 999.571 1.10418e-39
-1.8896 80.7189 999.922 1.10454e-39
-2.81745 80.7768 1000.64 1.74739e-39
-3.28189 80.8063 1001.01 1.47153e-39
-3.74669 80.8361 1001.37 1.47153e-39
-4.21184 80.8662 1001.75 8.28319e-40
-4.67734 80.8964 1002.12 8.28319e-40
-8.16378 81.2952 1007.06 5.56763e-40
--19.4543 80.663 993.53 5.57843e-40
--22.2005 80.9622 997.214 4.60977e-40
--21.7352 80.9486 997.047 3.70939e-40
--21.2701 80.9352 996.882 3.7058e-40
--20.8052 80.9219 996.719 4.6457e-40
--20.3404 80.9089 996.558 4.6457e-40
--19.4116 80.8834 996.244 5.57843e-40
--18.9475 80.871 996.091 6.48961e-40
--18.4836 80.8588 995.942 6.49678e-40
--18.0199 80.8469 995.795 6.47879e-40
--17.5563 80.8353 995.652 6.48597e-40
--17.093 80.8239 995.512 5.53891e-40
--16.6298 80.8128 995.375 5.5425e-40
--16.1668 80.802 995.241 4.60977e-40
--11.8361 80.723 994.269 7.4295e-40
--15.704 80.7914 995.111 4.60977e-40
--15.2414 80.781 994.983 4.61337e-40
--14.7789 80.7709 994.858 4.61337e-40
--14.3166 80.761 994.736 4.61694e-40
--13.8493 80.7212 994.246 4.61694e-40
--13.3883 80.7169 994.193 3.71302e-40
--12.9274 80.713 994.145 3.71661e-40
--12.4666 80.7094 994.101 5.58566e-40
--11.9992 80.6616 993.512 5.58925e-40
--11.5402 80.6677 993.587 7.4295e-40
--11.0811 80.6739 993.664 7.44026e-40
--10.6219 80.6804 993.743 7.40796e-40
--10.1627 80.687 993.825 7.41514e-40
--9.70338 80.6937 993.908 7.3792e-40
--9.24405 80.7007 993.993 7.38278e-40
--8.78409 80.7026 994.018 4.61335e-40
--8.32546 80.7176 994.202 4.61335e-40
--4.74554 80.9348 996.877 5.58922e-40
--7.86667 80.7328 994.389 3.69143e-40
--7.40773 80.7482 994.579 3.69143e-40
--6.94865 80.764 994.773 4.61697e-40
--6.48941 80.78 994.971 4.61697e-40
--6.03001 80.7964 995.173 3.72022e-40
--5.57045 80.8132 995.379 3.72022e-40
--5.11073 80.8304 995.591 5.58563e-40
--4.19077 80.8663 996.033 7.42593e-40
--3.73052 80.8851 996.265 7.43669e-40
--3.27009 80.9044 996.503 7.40075e-40
--2.80945 80.9245 996.751 7.40433e-40
--2.3497 80.9827 997.467 5.5353e-40
--1.8885 81.0074 997.771 5.5353e-40
--1.42702 81.0326 998.082 4.60977e-40
-2.1635 81.2057 1000.21 1.74703e-39
--0.965266 81.0583 998.398 4.60977e-40
--0.50322 81.0845 998.721 4.61334e-40
--0.0408762 81.1113 999.051 4.60975e-40
-0.421776 81.1386 999.387 5.52812e-40
-0.884746 81.1665 999.73 5.52812e-40
-1.34804 81.1948 1000.08 1.10418e-39
-1.81167 81.2237 1000.44 1.10418e-39
-2.27565 81.2531 1000.8 1.74703e-39
-2.73997 81.283 1001.17 1.74703e-39
-3.20466 81.3133 1001.54 1.47153e-39
-3.6697 81.344 1001.92 1.47153e-39
-4.13511 81.3749 1002.3 8.28319e-40
-4.60089 81.4061 1002.68 8.28319e-40
-8.08754 81.8004 1007.54 5.55328e-40
--19.1057 79.7861 966.193 5.54609e-40
--19.1377 79.3768 961.236 5.5425e-40
--18.519 80.5569 975.527 4.62775e-40
--18.0709 80.5728 975.72 4.62775e-40
--17.3712 79.4386 961.985 4.62412e-40
--16.9292 79.4543 962.175 4.62412e-40
--16.487 79.4702 962.367 4.60978e-40
--16.0447 79.486 962.559 4.60978e-40
--15.6022 79.502 962.752 3.69141e-40
--15.1596 79.5181 962.947 3.69141e-40
--14.7168 79.5342 963.142 3.69143e-40
--11.3844 79.7573 965.844 8.40909e-40
--14.2738 79.5503 963.338 3.69143e-40
--13.8306 79.5666 963.534 3.695e-40
--13.3873 79.5828 963.731 3.69859e-40
--12.9438 79.5992 963.929 3.72022e-40
--12.5001 79.6156 964.128 3.73099e-40
--12.0563 79.632 964.327 6.52564e-40
--11.6122 79.6485 964.526 6.53281e-40
--10.7236 79.6816 964.928 8.3804e-40
--10.2791 79.6983 965.129 8.39819e-40
--9.83434 79.715 965.332 8.35514e-40
--9.38941 79.7318 965.535 5.55691e-40
--8.94431 79.7486 965.739 5.53897e-40
--8.49902 79.7655 965.944 4.61335e-40
--8.05355 79.7825 966.15 4.60977e-40
--5.08688 80.1389 970.466 6.52557e-40
--7.60791 79.7996 966.357 3.69499e-40
--7.16207 79.8168 966.565 3.69499e-40
--6.71606 79.8342 966.775 3.69504e-40
--6.26987 79.8516 966.986 3.69863e-40
--5.82348 79.8693 967.2 5.56411e-40
--5.37692 79.8871 967.416 5.57128e-40
--4.54839 81.085 981.922 6.50763e-40
--4.03609 79.9419 968.08 6.50399e-40
--3.58877 79.9608 968.308 6.49681e-40
--3.14125 79.98 968.541 5.55685e-40
--2.69352 79.9997 968.78 5.5425e-40
--2.24559 80.0199 969.024 3.69499e-40
--1.79745 80.0406 969.275 3.6914e-40
--1.34908 80.062 969.534 3.68781e-40
-8.02776 78.4442 949.943 3.70935e-40
--0.900488 80.0842 969.803 3.6914e-40
--0.451648 80.1072 970.081 3.68781e-40
--0.00255353 80.243 971.726 3.6914e-40
-0.447435 80.2661 972.005 4.60617e-40
-0.897679 80.2888 972.281 4.60975e-40
-1.33403 79.4689 962.352 7.36482e-40
-1.77928 79.4568 962.205 7.36482e-40
-2.22439 79.4446 962.057 7.36122e-40
-2.66936 79.4321 961.906 7.36122e-40
-3.11417 79.4195 961.753 5.52454e-40
-3.55885 79.4067 961.598 5.52812e-40
-4.00337 79.3938 961.442 4.60975e-40
-4.44774 79.3808 961.285 4.60975e-40
\ No newline at end of file
diff --git a/x64/Debug/Reconstruction.exe b/x64/Debug/Reconstruction.exe
index 895fea1..e9b6387 100644
Binary files a/x64/Debug/Reconstruction.exe and b/x64/Debug/Reconstruction.exe differ
diff --git a/x64/Debug/Reconstruction.ilk b/x64/Debug/Reconstruction.ilk
index 7af3bfe..9a4993a 100644
Binary files a/x64/Debug/Reconstruction.ilk and b/x64/Debug/Reconstruction.ilk differ
diff --git a/x64/Debug/Reconstruction.log b/x64/Debug/Reconstruction.log
index 338606b..64dcae1 100644
--- a/x64/Debug/Reconstruction.log
+++ b/x64/Debug/Reconstruction.log
@@ -38,4 +38,5 @@ D:\BJTU\Reconstruction\Lib\FlyCapture2\include\Utilities.h(1,1): warning C4819:
 D:\BJTU\Reconstruction\Lib\FlyCapture2\include\AVIRecorder.h(1,1): warning C4819: 璇ユ枃浠跺寘鍚笉鑳藉湪褰撳墠浠ｇ爜椤�(936)涓〃绀虹殑瀛楃銆傝灏嗚鏂囦欢淇濆瓨涓� Unicode 鏍煎紡浠ラ槻姝㈡暟鎹涪澶�
 D:\BJTU\Reconstruction\Lib\FlyCapture2\include\TopologyNode.h(1,1): warning C4819: 璇ユ枃浠跺寘鍚笉鑳藉湪褰撳墠浠ｇ爜椤�(936)涓〃绀虹殑瀛楃銆傝灏嗚鏂囦欢淇濆瓨涓� Unicode 鏍煎紡浠ラ槻姝㈡暟鎹涪澶�
 D:\BJTU\Reconstruction\Lib\FlyCapture2\include\ImageStatistics.h(1,1): warning C4819: 璇ユ枃浠跺寘鍚笉鑳藉湪褰撳墠浠ｇ爜椤�(936)涓〃绀虹殑瀛楃銆傝灏嗚鏂囦欢淇濆瓨涓� Unicode 鏍煎紡浠ラ槻姝㈡暟鎹涪澶�
+D:\BJTU\Reconstruction\Classes\Reconstruction.cpp(146,43): warning C4806: 鈥�==鈥�: 涓嶅畨鍏ㄦ搷浣�: 浠庣被鍨嬧�渂ool鈥濇彁鍗囧埌绫诲瀷鈥渋nt鈥濈殑鍊间笉鑳界瓑浜庣粰瀹氱殑甯搁噺
   Reconstruction.vcxproj -> D:\BJTU\Reconstruction\x64\Debug\Reconstruction.exe
diff --git a/x64/Debug/Reconstruction.obj b/x64/Debug/Reconstruction.obj
index a01a770..a08354f 100644
Binary files a/x64/Debug/Reconstruction.obj and b/x64/Debug/Reconstruction.obj differ
diff --git a/x64/Debug/Reconstruction.pdb b/x64/Debug/Reconstruction.pdb
index 127209d..caaff01 100644
Binary files a/x64/Debug/Reconstruction.pdb and b/x64/Debug/Reconstruction.pdb differ
diff --git a/x64/Debug/Reconstruction.tlog/CL.command.1.tlog b/x64/Debug/Reconstruction.tlog/CL.command.1.tlog
index f6f4974..5f9d2d1 100644
Binary files a/x64/Debug/Reconstruction.tlog/CL.command.1.tlog and b/x64/Debug/Reconstruction.tlog/CL.command.1.tlog differ
diff --git a/x64/Debug/Reconstruction.tlog/CL.read.1.tlog b/x64/Debug/Reconstruction.tlog/CL.read.1.tlog
index 10b877d..452f042 100644
Binary files a/x64/Debug/Reconstruction.tlog/CL.read.1.tlog and b/x64/Debug/Reconstruction.tlog/CL.read.1.tlog differ
diff --git a/x64/Debug/Reconstruction.tlog/CL.write.1.tlog b/x64/Debug/Reconstruction.tlog/CL.write.1.tlog
index 2f78922..3272f07 100644
Binary files a/x64/Debug/Reconstruction.tlog/CL.write.1.tlog and b/x64/Debug/Reconstruction.tlog/CL.write.1.tlog differ
diff --git a/x64/Debug/Reconstruction.tlog/Reconstruction.write.1u.tlog b/x64/Debug/Reconstruction.tlog/Reconstruction.write.1u.tlog
index 9ca9712..8e47fea 100644
Binary files a/x64/Debug/Reconstruction.tlog/Reconstruction.write.1u.tlog and b/x64/Debug/Reconstruction.tlog/Reconstruction.write.1u.tlog differ
diff --git a/x64/Debug/Reconstruction.tlog/link.command.1.tlog b/x64/Debug/Reconstruction.tlog/link.command.1.tlog
index d25255d..c0c8bb6 100644
Binary files a/x64/Debug/Reconstruction.tlog/link.command.1.tlog and b/x64/Debug/Reconstruction.tlog/link.command.1.tlog differ
diff --git a/x64/Debug/Reconstruction.tlog/link.read.1.tlog b/x64/Debug/Reconstruction.tlog/link.read.1.tlog
index 94d60c9..24e04b2 100644
Binary files a/x64/Debug/Reconstruction.tlog/link.read.1.tlog and b/x64/Debug/Reconstruction.tlog/link.read.1.tlog differ
diff --git a/x64/Debug/Reconstruction.tlog/link.write.1.tlog b/x64/Debug/Reconstruction.tlog/link.write.1.tlog
index 69fd458..65553ff 100644
Binary files a/x64/Debug/Reconstruction.tlog/link.write.1.tlog and b/x64/Debug/Reconstruction.tlog/link.write.1.tlog differ
diff --git a/x64/Debug/moc_Reconstruction.obj b/x64/Debug/moc_Reconstruction.obj
index e6d158d..c5d9daf 100644
Binary files a/x64/Debug/moc_Reconstruction.obj and b/x64/Debug/moc_Reconstruction.obj differ
diff --git a/x64/Debug/vc142.pdb b/x64/Debug/vc142.pdb
index ed67cf9..b2c59cb 100644
Binary files a/x64/Debug/vc142.pdb and b/x64/Debug/vc142.pdb differ