added help on Kinect usage to user guide

doc/user_guide/opencv_guide_body.tex

@@ -2,6 +2,11 @@
 \chapter{cv::Mat. Operations with images.}
 \renewcommand{\curModule}{cv::Mat. Operations with images.}
 \input{user_guide/user_mat}
+
 \chapter{Features2d.}
 \renewcommand{\curModule}{Features2d}
 \input{user_guide/user_features2d}
+
+\chapter{Highgui.}
+\renewcommand{\curModule}{Highgui.}
+\input{user_guide/user_highgui}

doc/user_guide/user_highgui.tex

+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%                                                                                    %
+%                                        C++                                         %
+%                                                                                    %
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+\ifCpp
+\section{Using Kinect sensor.}
+To get Kinect data there is support in VideoCapture class. So the user can retrieve depth map,
+rgb image and some other formats of Kinect output by using familiar interface of \texttt{VideoCapture}.\par
+
+To use existing support of Kinect sensor the user should do the following preliminary steps:\newline
+1.) Install OpenNI library and PrimeSensor Module for OpenNI from here \url{http://www.openni.
+org/downloadfiles}. The installation should be made in default folders listed in install instrac-
+tions of these products:
+\begin{lstlisting}
+OpenNI:
+	Linux & MacOSX:
+		Libs into: /usr/lib
+		Includes into: /usr/include/ni
+	Windows:
+		Libs into: c:/Program Files/OpenNI/Lib
+		Includes into: c:/Program Files/OpenNI/Include
+PrimeSensor Module:
+	Linux & MacOSX:
+		Libs into: /usr/lib
+		Bins into: /usr/bin
+	Windows:
+		Libs into: c:/Program Files/Prime Sense/Sensor/Lib
+		Bins into: c:/Program Files/Prime Sense/Sensor/Bin
+\end{lstlisting}
+2.) Configure OpenCV with OpenNI support by setting \texttt{WITH\_OPENNI} flag in CMake. If OpenNI
+is found in default install folders OpenCV will be built with OpenNI library regardless of whether
+PrimeSensor Module is found or not. If PrimeSensor Module was not found the user get warning
+about this in CMake log. OpenCV is compiled with OpenNI library even though PrimeSensor
+Module was not detected, but \texttt{VideoCapture} object can not grab the data from Kinect sensor in
+such case. Build OpenCV.\par
+
+VideoCapture provides retrieving the following Kinect data:
+\begin{lstlisting}
+a.) data given from depth generator:
+	OPENNI_DEPTH_MAP          - depth values in mm (CV_16UC1)
+	OPENNI_POINT_CLOUD_MAP    - XYZ in meters (CV_32FC3)
+	OPENNI_DISPARITY_MAP      - disparity in pixels (CV_8UC1)
+	OPENNI_DISPARITY_MAP_32F  - disparity in pixels (CV_32FC1)
+	OPENNI_VALID_DEPTH_MASK   - mask of valid pixels (not ocluded,
+                                not shaded etc.) (CV_8UC1)
+b.) data given from RGB image generator:
+	OPENNI_BGR_IMAGE          - color image (CV_8UC3)
+	OPENNI_GRAY_IMAGE         - gray image (CV_8UC1)
+\end{lstlisting}
+
+To get depth map from Kinect the user can use \texttt{VideoCapture::operator >>}, e. g.
+\begin{lstlisting}
+VideoCapture capture(0); // or CV_CAP_OPENNI
+for(;;)
+{
+	Mat depthMap;
+	
+	capture >> depthMap;
+	
+	if( waitKey( 30 ) >= 0 )
+		break;
+}
+\end{lstlisting}
+To get several Kinect maps the user should use \texttt{VideoCapture::grab + VideoCapture::retrieve},
+e. g.
+\begin{lstlisting}
+VideoCapture capture(0); // or CV_CAP_OPENNI
+for(;;)
+{
+	Mat depthMap;
+	Mat rgbImage
+	
+	capture.grab();
+	
+	capture.retrieve( depthMap, OPENNI_DEPTH_MAP );
+	capture.retrieve( bgrImage, OPENNI_BGR_IMAGE );
+	
+	if( waitKey( 30 ) >= 0 )
+		break;
+}
+\end{lstlisting}
+
+For more information see example kinect maps.cpp in sample folder.
+
+\fi