#include <iostream>
#include <opencv2\opencv.hpp>
#include <XnCppWrapper.h>
using namespace xn;
using namespace cv;
using namespace std;

Context context;
ImageGenerator imageGen;
const Size frameSize(640, 480);
Mat bgrMat(frameSize, CV_8UC3);

int main()
{
	// Initialize context object.
	XnStatus nRetVal = XN_STATUS_OK;
	nRetVal = context.Init();

	// Defauly output mode.
	XnMapOutputMode outputMode;
	outputMode.nXRes = 640;
	outputMode.nYRes = 480;
	outputMode.nFPS = 30;

	// Create an imageGenerator node.
	nRetVal = imageGen.Create(context);
	nRetVal = imageGen.SetMapOutputMode(outputMode);
	nRetVal = imageGen.GetMirrorCap().SetMirror(true);

	// Start generating.
	nRetVal = context.StartGeneratingAll();

	// Get the first frame from the camera.
	Mat mat(frameSize, CV_8UC3, (unsigned char*)imageGen.GetImageMap());

	// Window.
	cvNamedWindow("ColorBasedTracking");

	// To hold each frame.
	IplImage *frame ;

	while(true)
	{
		Mat mat(frameSize, CV_8UC3, (unsigned char*) imageGen.GetImageMap());
		cvtColor(mat, bgrMat, CV_RGB2BGR);
		frame = cvCloneImage(&(IplImage)bgrMat);

		if(!frame)
			break;

		cvShowImage("ColorBasedTracking", frame);

		// Wait for a keypress.
		int c = cvWaitKey(10);
		if(c != -1)
			break;

		cvReleaseImage(&frame);

	}

	return 0;
}