Merge pull request #2919 from larshg:Openni2Support

7bd7c85b · Vadim Pisarevsky · 58cf2a8f · 1242a661 · 7bd7c85b · 7bd7c85b
11 changed file
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,8 @@
 #
 # ----------------------------------------------------------------------------

+
+
 include(cmake/OpenCVMinDepVersions.cmake)

 if(CMAKE_GENERATOR MATCHES Xcode AND XCODE_VERSION VERSION_GREATER 4.3)
@@ -135,6 +137,7 @@ OCV_OPTION(WITH_WEBP           "Include WebP support"                        ON
 OCV_OPTION(WITH_OPENEXR        "Include ILM support via OpenEXR"             ON   IF (NOT IOS) )
 OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID) )
 OCV_OPTION(WITH_OPENNI         "Include OpenNI support"                      OFF  IF (NOT ANDROID AND NOT IOS) )
+OCV_OPTION(WITH_OPENNI2        "Include OpenNI2 support"                     OFF  IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_PNG            "Include PNG support"                         ON)
 OCV_OPTION(WITH_PVAPI          "Include Prosilica GigE support"              ON   IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_GIGEAPI        "Include Smartek GigE support"                ON   IF (NOT ANDROID AND NOT IOS) )
@@ -865,6 +868,11 @@ if(DEFINED WITH_OPENNI)
                                                   THEN "YES (${OPENNI_PRIME_SENSOR_MODULE})"      ELSE NO)
 endif(DEFINED WITH_OPENNI)

+if(DEFINED WITH_OPENNI2)
+  status("    OpenNI2:"		   HAVE_OPENNI2	   THEN "YES (ver ${OPENNI2_VERSION_STRING}, build ${OPENNI2_VERSION_BUILD})"
+																								   ELSE NO)
+endif(DEFINED WITH_OPENNI2)
+
 if(DEFINED WITH_PVAPI)
  status("    PvAPI:"          HAVE_PVAPI          THEN YES                                        ELSE NO)
 endif(DEFINED WITH_PVAPI)

--- a/cmake/OpenCVFindLibsVideo.cmake
+++ b/cmake/OpenCVFindLibsVideo.cmake
@@ -166,6 +166,11 @@ if(WITH_OPENNI)
  include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindOpenNI.cmake")
 endif(WITH_OPENNI)

+ocv_clear_vars(HAVE_OPENNI2)
+if(WITH_OPENNI2)
+  include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindOpenNI2.cmake")
+endif(WITH_OPENNI2)
+
 # --- XIMEA ---
 ocv_clear_vars(HAVE_XIMEA)
 if(WITH_XIMEA)

--- a/cmake/OpenCVFindOpenNI2.cmake
+++ b/cmake/OpenCVFindOpenNI2.cmake
+# Main variables:
+# OPENNI2_LIBRARY and OPENNI2_INCLUDES to link OpenCV modules with OpenNI2
+# HAVE_OPENNI2 for conditional compilation OpenCV with/without OpenNI2
+
+if(NOT "${OPENNI2_LIB_DIR}" STREQUAL "${OPENNI2_LIB_DIR_INTERNAL}")
+    unset(OPENNI2_LIBRARY CACHE)
+    unset(OPENNI2_LIB_DIR CACHE)
+endif()
+
+if(NOT "${OPENNI2_INCLUDE_DIR}" STREQUAL "${OPENNI2_INCLUDE_DIR_INTERNAL}")
+    unset(OPENNI2_INCLUDES CACHE)
+    unset(OPENNI2_INCLUDE_DIR CACHE)
+endif()
+
+if(WIN32)
+    if(NOT (MSVC64 OR MINGW64))
+        find_file(OPENNI2_INCLUDES "OpenNI.h" PATHS "$ENV{OPEN_NI_INSTALL_PATH}Include" DOC "OpenNI2 c++ interface header")
+        find_library(OPENNI2_LIBRARY "OpenNI2" PATHS $ENV{OPENNI2_LIB} DOC "OpenNI2 library")
+    else()
+        find_file(OPENNI2_INCLUDES "OpenNI.h" PATHS "$ENV{OPEN_NI_INSTALL_PATH64}Include" DOC "OpenNI2 c++ interface header")
+        find_library(OPENNI2_LIBRARY "OpenNI2" PATHS $ENV{OPENNI2_LIB64} DOC "OpenNI2 library")
+    endif()
+elseif(UNIX OR APPLE)
+    find_file(OPENNI_INCLUDES "OpenNI.h" PATHS "/usr/include/ni2" "/usr/include/openni2" DOC "OpenNI2 c++ interface header")
+    find_library(OPENNI_LIBRARY "OpenNI2" PATHS "/usr/lib" DOC "OpenNI2 library")
+endif()
+
+if(OPENNI2_LIBRARY AND OPENNI2_INCLUDES)
+    set(HAVE_OPENNI2 TRUE)
+endif() #if(OPENNI_LIBRARY AND OPENNI_INCLUDES)
+
+get_filename_component(OPENNI2_LIB_DIR "${OPENNI2_LIBRARY}" PATH)
+get_filename_component(OPENNI2_INCLUDE_DIR ${OPENNI2_INCLUDES} PATH)
+
+if(HAVE_OPENNI2)
+  set(OPENNI2_LIB_DIR "${OPENNI2_LIB_DIR}" CACHE PATH "Path to OpenNI2 libraries" FORCE)
+  set(OPENNI2_INCLUDE_DIR "${OPENNI2_INCLUDE_DIR}" CACHE PATH "Path to OpenNI2 headers" FORCE)
+endif()
+
+if(OPENNI2_LIBRARY)
+    set(OPENNI2_LIB_DIR_INTERNAL "${OPENNI2_LIB_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_LIB_DIR was set successfully." FORCE)
+else()
+    message( WARNING, " OpenNI2 library directory (set by OPENNI2_LIB_DIR variable) is not found or does not have OpenNI2 libraries." )
+endif()
+
+if(OPENNI2_INCLUDES)
+    set(OPENNI2_INCLUDE_DIR_INTERNAL "${OPENNI2_INCLUDE_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI2_INCLUDE_DIR was set successfully." FORCE)
+else()
+    message( WARNING, " OpenNI2 include directory (set by OPENNI2_INCLUDE_DIR variable) is not found or does not have OpenNI2 include files." )
+endif()
+
+mark_as_advanced(FORCE OPENNI2_LIBRARY)
+mark_as_advanced(FORCE OPENNI2_INCLUDES)
+
+if(HAVE_OPENNI2)
+  ocv_parse_header("${OPENNI2_INCLUDE_DIR}/OniVersion.h" ONI_VERSION_LINE ONI_VERSION_MAJOR ONI_VERSION_MINOR ONI_VERSION_MAINTENANCE ONI_VERSION_BUILD)
+  if(ONI_VERSION_MAJOR)
+    set(OPENNI2_VERSION_STRING ${ONI_VERSION_MAJOR}.${ONI_VERSION_MINOR}.${ONI_VERSION_MAINTENANCE} CACHE INTERNAL "OpenNI2 version")
+    set(OPENNI2_VERSION_BUILD ${ONI_VERSION_BUILD} CACHE INTERNAL "OpenNI2 build version")
+  endif()
+endif()
--- a/cmake/templates/cvconfig.h.in
+++ b/cmake/templates/cvconfig.h.in
@@ -129,6 +129,9 @@
 /* OpenNI library */
 #cmakedefine HAVE_OPENNI

+/* OpenNI library */
+#cmakedefine HAVE_OPENNI2
+
 /* PNG codec */
 #cmakedefine HAVE_PNG


--- a/modules/highgui/include/opencv2/highgui.hpp
+++ b/modules/highgui/include/opencv2/highgui.hpp
@@ -201,5 +201,4 @@ CV_EXPORTS int createButton( const String& bar_name, ButtonCallback on_change,
                             bool initial_button_state = false);

 } // cv
-
 #endif
--- a/modules/highgui/include/opencv2/highgui/highgui_c.h
+++ b/modules/highgui/include/opencv2/highgui/highgui_c.h
@@ -207,6 +207,7 @@ CVAPI(void) cvUpdateWindow(const char* window_name);


 /****************************************************************************************\
+
 *                              Obsolete functions/synonyms                               *
 \****************************************************************************************/


--- a/modules/videoio/CMakeLists.txt
+++ b/modules/videoio/CMakeLists.txt
@@ -78,6 +78,12 @@ if(HAVE_OPENNI)
  list(APPEND VIDEOIO_LIBRARIES ${OPENNI_LIBRARY})
 endif(HAVE_OPENNI)

+if(HAVE_OPENNI2)
+  list(APPEND videoio_srcs src/cap_openni2.cpp)
+  ocv_include_directories(${OPENNI2_INCLUDE_DIR})
+  list(APPEND VIDEOIO_LIBRARIES ${OPENNI2_LIBRARY})
+endif(HAVE_OPENNI2)
+
 if(HAVE_opencv_androidcamera)
  list(APPEND videoio_srcs src/cap_android.cpp)
  add_definitions(-DHAVE_ANDROID_NATIVE_CAMERA)#TODO: remove this line

--- a/modules/videoio/include/opencv2/videoio.hpp
+++ b/modules/videoio/include/opencv2/videoio.hpp
@@ -75,7 +75,8 @@ enum { CAP_ANY          = 0,     // autodetect
       CAP_AVFOUNDATION = 1200,  // AVFoundation framework for iOS (OS X Lion will have the same API)
       CAP_GIGANETIX    = 1300,  // Smartek Giganetix GigEVisionSDK
       CAP_MSMF         = 1400,  // Microsoft Media Foundation (via videoInput)
-       CAP_INTELPERC    = 1500   // Intel Perceptual Computing SDK
+       CAP_INTELPERC    = 1500,   // Intel Perceptual Computing SDK
+       CAP_OPENNI2      = 1600   // OpenNI2 (for Kinect)
     };

 // generic properties (based on DC1394 properties)
@@ -149,7 +150,9 @@ enum { CAP_PROP_OPENNI_OUTPUT_MODE       = 100,
       CAP_PROP_OPENNI_MAX_BUFFER_SIZE   = 106,
       CAP_PROP_OPENNI_CIRCLE_BUFFER     = 107,
       CAP_PROP_OPENNI_MAX_TIME_DURATION = 108,
-       CAP_PROP_OPENNI_GENERATOR_PRESENT = 109
+       CAP_PROP_OPENNI_GENERATOR_PRESENT = 109,
+       CAP_PROP_OPENNI2_SYNC             = 110,
+       CAP_PROP_OPENNI2_MIRROR           = 111
     };

 // OpenNI shortcats

--- a/modules/videoio/include/opencv2/videoio/videoio_c.h
+++ b/modules/videoio/include/opencv2/videoio/videoio_c.h
@@ -104,7 +104,9 @@ enum

    CV_CAP_GIGANETIX = 1300,  // Smartek Giganetix GigEVisionSDK

-    CV_CAP_INTELPERC = 1500 // Intel Perceptual Computing SDK
+    CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing
+
+    CV_CAP_OPENNI2 = 1600   // OpenNI2 (for Kinect)
 };

 /* start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*) */
@@ -200,6 +202,8 @@ enum
    CV_CAP_PROP_OPENNI_MAX_TIME_DURATION = 108,

    CV_CAP_PROP_OPENNI_GENERATOR_PRESENT = 109,
+    CV_CAP_PROP_OPENNI2_SYNC = 110,
+    CV_CAP_PROP_OPENNI2_MIRROR = 111,

    CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT         = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
    CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE     = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,

--- a/modules/videoio/src/cap.cpp
+++ b/modules/videoio/src/cap.cpp
@@ -143,6 +143,9 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
 #ifdef HAVE_OPENNI
        CV_CAP_OPENNI,
 #endif
+#ifdef HAVE_OPENNI2
+        CV_CAP_OPENNI2,
+#endif
 #ifdef HAVE_ANDROID_NATIVE_CAMERA
        CV_CAP_ANDROID,
 #endif
@@ -190,6 +193,7 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
    defined(HAVE_UNICAP)       || \
    defined(HAVE_PVAPI)        || \
    defined(HAVE_OPENNI)       || \
+    defined(HAVE_OPENNI2)      || \
    defined(HAVE_XIMEA)        || \
    defined(HAVE_AVFOUNDATION) || \
    defined(HAVE_ANDROID_NATIVE_CAMERA) || \
@@ -305,6 +309,14 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
        break;
 #endif

+#ifdef HAVE_OPENNI2
+        case CV_CAP_OPENNI2:
+            capture = cvCreateCameraCapture_OpenNI(index);
+            if (capture)
+                return capture;
+            break;
+#endif
+
 #ifdef HAVE_ANDROID_NATIVE_CAMERA
        case CV_CAP_ANDROID:
            capture = cvCreateCameraCapture_Android (index);

--- a/modules/videoio/src/cap_openni2.cpp
+++ b/modules/videoio/src/cap_openni2.cpp