Added better OpenNI2 support to the Asus Xtion and Occipital Structure

sensors which do not have image generators.

modules/videoio/include/opencv2/videoio.hpp

@@ -76,7 +76,8 @@ enum { CAP_ANY          = 0,     // autodetect
        CAP_GIGANETIX    = 1300,  // Smartek Giganetix GigEVisionSDK
        CAP_MSMF         = 1400,  // Microsoft Media Foundation (via videoInput)
        CAP_INTELPERC    = 1500,   // Intel Perceptual Computing SDK
-       CAP_OPENNI2      = 1600   // OpenNI2 (for Kinect)
+       CAP_OPENNI2      = 1600,   // OpenNI2 (for Kinect)
+       CAP_OPENNI2_ASUS = 1610   // OpenNI2 (for Asus Xtion and Occipital Structure sensors)
      };
 
 // generic properties (based on DC1394 properties)

modules/videoio/src/cap_openni2.cpp

@@ -68,8 +68,6 @@
 #define CV_DEPTH_STREAM 0
 #define CV_COLOR_STREAM 1
 
-#define CV_NUM_STREAMS 2
-
 #include "OpenNI.h"
 #include "PS1080.h"
 
@@ -161,6 +159,7 @@ protected:
 
     int currentStream;
 
+    int numStream;
     std::vector<OutputMap> outputMaps;
 };
 
@@ -198,6 +197,7 @@ openni::VideoMode CvCapture_OpenNI2::defaultDepthOutputMode()
 
 CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
 {
+    numStream = 2;
     const char* deviceURI = openni::ANY_DEVICE;
     openni::Status status;
     int deviceType = DEVICE_DEFAULT;
@@ -215,6 +215,10 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
         index %= 10;
     }
 
+    // Asus XTION and Occipital Structure Sensor do not have an image generator
+    if (deviceType == DEVICE_ASUS_XTION)
+        numStream = 1;
+
     if( deviceType > DEVICE_MAX )
         return;
 
@@ -259,6 +263,10 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
         CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find depth stream:: %s\n", openni::OpenNI::getExtendedError()));
         return;
     }
+
+    streams = new openni::VideoStream*[numStream];
+    streams[CV_DEPTH_STREAM] = &depth;
+
     // create a color object
     status = color.create(device, openni::SENSOR_COLOR);
     if (status == openni::STATUS_OK)
@@ -275,13 +283,19 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
             color.destroy();
             return;
         }
+        streams[CV_COLOR_STREAM] = &color;
     }
-    else
+    else if (numStream == 2)
     {
         CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find color stream: %s\n", openni::OpenNI::getExtendedError()));
         return;
     }
 
+    if( !readCamerasParams() )
+    {
+        CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
+        return;
+    }
 
 //    if( deviceType == DEVICE_ASUS_XTION )
 //    {
@@ -291,14 +305,6 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
 //        depthGenerator.SetIntProperty("RegistrationType", 1 /*XN_PROCESSING_HARDWARE*/);
 //    }
 
-    if( !readCamerasParams() )
-    {
-        CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
-        return;
-    }
-    streams = new openni::VideoStream*[CV_NUM_STREAMS];
-    streams[CV_DEPTH_STREAM] = &depth;
-    streams[CV_COLOR_STREAM] = &color;
 
     outputMaps.resize( outputMapsTypesCount );
 
@@ -309,6 +315,7 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
 
 CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename)
 {
+    numStream = 2;
     openni::Status status;
 
     isContextOpened = false;
@@ -695,7 +702,7 @@ bool CvCapture_OpenNI2::grabFrame()
 
     bool isGrabbed = false;
 
-    openni::Status status = openni::OpenNI::waitForAnyStream(streams, CV_NUM_STREAMS, &currentStream, CV_STREAM_TIMEOUT);
+    openni::Status status = openni::OpenNI::waitForAnyStream(streams, numStream, &currentStream, CV_STREAM_TIMEOUT);
     if( status != openni::STATUS_OK )
         return false;