Attempting to add support for openni depth registration.

modules/highgui/include/opencv2/highgui/highgui_c.h

@@ -360,9 +360,11 @@ enum
     CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH  = 101, // in mm
     CV_CAP_PROP_OPENNI_BASELINE         = 102, // in mm
     CV_CAP_PROP_OPENNI_FOCAL_LENGTH     = 103, // in pixels
+    CV_CAP_PROP_OPENNI_REGISTRATION_ON    = 104, // flag
     CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,
     CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_BASELINE,
     CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_FOCAL_LENGTH,
+    CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_REGISTRATION_ON,
     
     // Properties of cameras available through GStreamer interface
     CV_CAP_GSTREAMER_QUEUE_LENGTH	= 200, // default is 1

modules/highgui/src/cap_openni.cpp

@@ -344,7 +344,28 @@ double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
 bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
 {
     CV_Assert( depthGenerator.IsValid() );
+    switch(propIdx)
+    {   
+        case CV_CAP_PROP_OPENNI_REGISTRATION_ON:
+            {
+                CV_Assert( imageGenerator.IsValid() );
+                if (!depthGenerator.GetAlternativeViewPointCap ().IsViewPointAs (imageGenerator))
+                {
+                    if (depthGenerator.GetAlternativeViewPointCap ().IsViewPointSupported (imageGenerator))
+                    {
+                      XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint (imageGenerator);
+                      if (status != XN_STATUS_OK)
+                         CV_Error( CV_StsError, std::string("turning registration on failed. Reason: ") + xnGetStatusString (status));
+                    }
+                    else
+                       CV_Error( CV_StsError, "turning registration on failed. Reason: unsupported viewpoint");
+                }
+            }
+            return true;
+            break;
+        default:
             CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for setting.\n");
+    }
     return false;
 }