#include <XnCppWrapper.h>
using namespace xn;
Context commonContext;
NodeInfoList imageList, depthList;

XnStatus rc;
rc = commonContext.Init();
rc |= commonContext.EnumerateProductionTrees (XN_NODE_TYPE_IMAGE, NULL, imageList);
rc |= commonContext.EnumerateProductionTrees (XN_NODE_TYPE_DEPTH, NULL, depthList);

NodeInfoList::Iterator iit = imageList.Begin(), dit = depthList.Begin();

// apre il Kinect #id
int temp = id;
while (temp--) {
	if (iit == imageList.End() || dit == depthList.End()) {
		std::cout << "Not enough devices!" << std::endl;
		return 1;
	}
	iit++; dit++;
}

NodeInfo dn(*iit), in(*dit);
rc |= commonContext.CreateProductionTree(dn);
rc |= commonContext.CreateProductionTree(in);

ImageGenerator image;
DepthGenerator depth
rc |= dn.GetInstance(image);

rc |= in.GetInstance(depth);

XnMapOutputMode mode;
mode.nFPS = 30;
mode.nXRes = XRes = 640;
mode.nYRes = YRes = 480;
image.SetMapOutputMode(mode);
depth.SetMapOutputMode(mode);

// allineamento depth -> RGB
depth.GetAlternativeViewPointCap().SetViewPoint(image);


// cattura
while(true) {
	commonContext.WaitAndUpdateAll();

	uint64_t timestamp = depth.GetTimestamp();

	ushort* depth_buffer = (ushort*)depth.GetDepthMap();

	uchar* image_buffer = (uchar*)image.GetImageMap();
}

// chiusura

commonContext.Shutdown();