refactored OpenNI integration

CMakeLists.txt

@@ -775,37 +775,11 @@ endif()
 
 ############################### OpenNI ################################
 set(HAVE_OPENNI FALSE)
-set(HAVE_PRIME_SENSOR_FOR_OPENNI FALSE)
+set(HAVE_OPENNI_PRIME_SENSOR_MODULE FALSE)
 
 if(WITH_OPENNI)
-    # find OpenNI library
-    unset(OPENNI_LIBRARY CACHE)
-    unset(PRIME_SENSOR_MODULES_FOR_OPENNI CACHE)
-    find_library(OPENNI_LIBRARY "OpenNI" PATHS "/usr/lib" "c:/Program Files/OpenNI/Lib" DOC "OpenNI library")
-
-	if(OPENNI_LIBRARY)
-        set(HAVE_OPENNI TRUE)
-
-        # set OpenNI include directory
-        if(WIN32)
-            set(OPENNI_INCLUDE_DIR "c:/Program Files/OpenNI/Include")
-        elseif(UNIX OR APPLE)
-            set(OPENNI_INCLUDE_DIR "/usr/include/ni")
-        endif()
-
-        # the check: are PrimeSensor Modules for OpenNI installed?
-        if(WIN32)
-            find_file(PRIME_SENSOR_MODULES_FOR_OPENNI "XnCore.dll" PATHS "c:/Program Files/Prime Sense/Sensor/Bin" DOC "Core library of PrimeSensor Modules for OpenNI")
-        elseif(UNIX OR APPLE)
-            find_library(PRIME_SENSOR_MODULES_FOR_OPENNI "XnCore" PATHS "/usr/lib" DOC "Core library of PrimeSensor Modules for OpenNI")
-        endif()
-        if(PRIME_SENSOR_MODULES_FOR_OPENNI)
-            set(HAVE_PRIME_SENSOR_FOR_OPENNI TRUE)
-        endif()
-
-    endif() #if(OPENNI_LIBRARY)
-
-endif() #if(WITH_OPENNI)
+	include(OpenCVFindOpenNI.cmake)
+endif()
 
 ############################## Eigen2 ##############################
 
@@ -1383,11 +1357,11 @@ else()
 message(STATUS "    OpenEXR:                   NO")
 endif()
 
-if(NOT HAVE_OPENNI OR HAVE_PRIME_SENSOR_FOR_OPENNI)
+if(NOT HAVE_OPENNI OR HAVE_OPENNI_PRIME_SENSOR_MODULE)
 message(STATUS "    OpenNI:                    ${HAVE_OPENNI}")
 else()
-message(STATUS "    OpenNI:                    ${HAVE_OPENNI} (WARNING: PrimeSensor Modules for OpenNI are not installed.)")
-endif() #if(NOT HAVE_OPENNI OR HAVE_PRIME_SENSOR_FOR_OPENNI)
+message(STATUS "    OpenNI:                    ${HAVE_OPENNI} (WARNING: PrimeSensor Modules for OpenNI are not installed (not found in OPENNI_PRIME_SENSOR_MODULE_BIN_DIR).)")
+endif()
 
 if(UNIX AND NOT APPLE)
 message(STATUS "")

OpenCVFindOpenNI.cmake

+# Main variables:
+# OPENNI_LIBRARY and OPENNI_INCLUDES to link OpenCV modules with OpenNI
+# HAVE_OPENNI for conditional compilation OpenCV with/without OpenNI
+
+set(OPENNI_LIB_DESCR "Path to the directory of OpenNI libraries" CACHE INTERNAL "Description" )
+set(OPENNI_INCLUDE_DESCR "Path to the directory of OpenNI includes" CACHE INTERNAL "Description" )
+set(OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR "Path to the directory of PrimeSensor Module binaries" CACHE INTERNAL "Description" )
+
+if(NOT "${OPENNI_LIB_DIR}" STREQUAL "${OPENNI_LIB_DIR_INTERNAL}")
+	unset(OPENNI_LIBRARY CACHE)
+endif()
+	
+if(NOT "${OPENNI_INCLUDE_DIR}" STREQUAL "${OPENNI_INCLUDE_DIR_INTERNAL}")
+	unset(OPENNI_INCLUDES CACHE)
+endif()
+	
+if(NOT "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}" STREQUAL "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}")
+	unset(OPENNI_PRIME_SENSOR_MODULE CACHE)
+endif()
+	
+if(NOT OPENNI_LIB_DIR OR OPENNI_LIB_DIR STREQUAL "")
+	if(WIN32)
+		set(OPENNI_LIB_DIR "c:/Program Files/OpenNI/Lib" CACHE PATH ${OPENNI_LIB_DESCR})
+	elseif(UNIX OR APPLE)
+		set(OPENNI_LIB_DIR "/usr/lib" CACHE PATH ${OPENNI_LIB_DESCR})
+	endif()
+endif()
+	
+if(NOT OPENNI_INCLUDE_DIR OR OPENNI_INCLUDE_DIR STREQUAL "")
+	if(WIN32)
+		set(OPENNI_INCLUDE_DIR "c:/Program Files/OpenNI/Include" CACHE PATH ${OPENNI_INCLUDE_DESCR})
+	elseif(UNIX OR APPLE)
+		set(OPENNI_INCLUDE_DIR "/usr/include/ni" CACHE PATH ${OPENNI_INCLUDE_DESCR})
+	endif()
+endif()
+	
+if(NOT OPENNI_PRIME_SENSOR_MODULE_BIN_DIR OR OPENNI_PRIME_SENSOR_MODULE_BIN_DIR STREQUAL "")
+	if(WIN32)
+		set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR "c:/Program Files/Prime Sense/Sensor/Bin" CACHE PATH ${OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR})
+	elseif(UNIX OR APPLE)
+		set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR "/usr/lib" CACHE PATH ${OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR})
+	endif()
+endif()
+
+find_library(OPENNI_LIBRARY "OpenNI" PATHS ${OPENNI_LIB_DIR} DOC "OpenNI library" NO_DEFAULT_PATH)
+find_path(OPENNI_INCLUDES "XnCppWrapper.h" PATHS ${OPENNI_INCLUDE_DIR} DOC "OpenNI c++ interface header" NO_DEFAULT_PATH)
+
+if(OPENNI_LIBRARY AND OPENNI_INCLUDES)
+	set(HAVE_OPENNI TRUE)
+	# the check: are PrimeSensor Modules for OpenNI installed?
+	if(WIN32)
+		find_file(OPENNI_PRIME_SENSOR_MODULE "XnCore.dll" PATHS ${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR} DOC "Core library of PrimeSensor Modules for OpenNI" NO_DEFAULT_PATH)
+	elseif(UNIX OR APPLE)
+		find_library(OPENNI_PRIME_SENSOR_MODULE "XnCore" PATHS ${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR} DOC "Core library of PrimeSensor Modules for OpenNI" NO_DEFAULT_PATH)
+	endif()
+	
+	if(OPENNI_PRIME_SENSOR_MODULE)
+		set(HAVE_OPENNI_PRIME_SENSOR_MODULE TRUE)
+	endif()
+endif() #if(OPENNI_LIBRARY AND OPENNI_INCLUDES)
+
+if(OPENNI_LIBRARY)
+	set(OPENNI_LIB_DIR_INTERNAL "${OPENNI_LIB_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_LIB_DIR was set successfully." FORCE)
+else()
+	set(OPENNI_LIB_DIR "${OPENNI_LIB_DIR}-NOTFOUND or does not have OpenNI libraries" CACHE PATH ${OPENNI_LIB_DESCR} FORCE)
+endif()
+
+if(OPENNI_INCLUDES)
+	set(OPENNI_INCLUDE_DIR_INTERNAL "${OPENNI_INCLUDE_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_INCLUDE_DIR was set successfully." FORCE)
+else()
+	set(OPENNI_INCLUDE_DIR "${OPENNI_INCLUDE_DIR}-NOTFOUND or does not have OpenNI includes" CACHE PATH ${OPENNI_INCLUDE_DESCR} FORCE)
+endif()
+
+if(OPENNI_PRIME_SENSOR_MODULE)
+	set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR_INTERNAL "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_PRIME_SENSOR_MODULE_BIN_DIR was set successfully." FORCE)
+else()
+	set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}-NOTFOUND or does not have PrimeSensor Module binaries" CACHE PATH ${OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR} FORCE)
+endif()
+
+mark_as_advanced(FORCE OPENNI_PRIME_SENSOR_MODULE)
+mark_as_advanced(FORCE OPENNI_LIBRARY)
+mark_as_advanced(FORCE OPENNI_INCLUDES)

doc/user_guide/user_highgui.tex

@@ -13,8 +13,7 @@ output can be retrieved by using familiar interface of \texttt{VideoCapture}.\pa
 
 In order to use Kinect with OpenCV you 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 done to default folders listed in the instruc-
-tions of these products:
+The installation should be done to default folders listed in the instructions of these products:
 \begin{lstlisting}
 OpenNI:
 	Linux & MacOSX:
@@ -25,12 +24,13 @@ OpenNI:
 		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}
+If one or both products were installed to the other folders, the user should change corresponding CMake variables 
+(\texttt{OPENNI\_LIB\_DIR}, \texttt{OPENNI\_INCLUDE\_DIR} or/and 
+\texttt{OPENNI\_PRIME\_SENSOR\_MODULE\_BIN\_DIR}).\newline
 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 you will get a warning

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

@@ -334,7 +334,42 @@ enum
 	CV_CAP_PROP_CONVERT_RGB   =16,
 	CV_CAP_PROP_WHITE_BALANCE =17,
 	CV_CAP_PROP_RECTIFICATION =18,
-	CV_CAP_PROP_MONOCROME	  =19
+	CV_CAP_PROP_MONOCROME	  =19,
+
+	// OpenNI map generators
+    CV_CAP_OPENNI_DEPTH_GENERATOR = 0,
+    CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 31,
+    CV_CAP_OPENNI_GENERATORS_MASK = 1 << 31,
+
+    // Properties of cameras avalible through OpenNI interfaces
+    CV_CAP_PROP_OPENNI_OUTPUT_MODE      = 20,
+    CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH  = 21, // in mm
+    CV_CAP_PROP_OPENNI_BASELINE         = 22, // in mm
+    CV_CAP_PROP_OPENNI_FOCAL_LENGTH     = 23, // in pixels
+    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
+};
+
+enum
+{
+    // Data given from depth generator.
+    CV_CAP_OPENNI_DEPTH_MAP                 = 0, // Depth values in mm (CV_16UC1)
+    CV_CAP_OPENNI_POINT_CLOUD_MAP           = 1, // XYZ in meters (CV_32FC3)
+    CV_CAP_OPENNI_DISPARITY_MAP             = 2, // Disparity in pixels (CV_8UC1)
+    CV_CAP_OPENNI_DISPARITY_MAP_32F         = 3, // Disparity in pixels (CV_32FC1)
+    CV_CAP_OPENNI_VALID_DEPTH_MASK          = 4, // CV_8UC1
+
+    // Data given from RGB image generator.
+    CV_CAP_OPENNI_BGR_IMAGE                 = 5,
+    CV_CAP_OPENNI_GRAY_IMAGE                = 6
+};
+
+// Supported output modes of OpenNI image generator
+enum
+{
+    CV_CAP_OPENNI_VGA_30HZ     = 0,
+    CV_CAP_OPENNI_SXGA_15HZ    = 1
 };
 
 /* retrieve or set capture properties */
@@ -369,50 +404,6 @@ CVAPI(int) cvWriteFrame( CvVideoWriter* writer, const IplImage* image );
 /* close video file writer */
 CVAPI(void) cvReleaseVideoWriter( CvVideoWriter** writer );
 
-enum
-{ 
-    // Data given from depth generator.
-    OPENNI_DEPTH_MAP                 = 0, // Depth values in mm (CV_16UC1)
-    OPENNI_POINT_CLOUD_MAP           = 1, // XYZ in meters (CV_32FC3)
-    OPENNI_DISPARITY_MAP             = 2, // Disparity in pixels (CV_8UC1)
-    OPENNI_DISPARITY_MAP_32F         = 3, // Disparity in pixels (CV_32FC1)
-    OPENNI_VALID_DEPTH_MASK          = 4, // CV_8UC1
-
-    // Data given from RGB image generator.
-    OPENNI_BGR_IMAGE                 = 5,
-    OPENNI_GRAY_IMAGE                = 6
-};
-
-// OpenNI map generators
-enum
-{
-    OPENNI_DEPTH_GENERATOR = 0,
-    OPENNI_IMAGE_GENERATOR = 1 << 31
-};
-
-// Properties of cameras avalible through OpenNI interfaces
-// (additional to ones begining from CV_CAP_PROP_...)
-enum
-{
-    OPENNI_OUTPUT_MODE = 20,
-    OPENNI_FRAME_MAX_DEPTH = 21, // in mm
-    OPENNI_BASELINE = 22, // in mm
-    OPENNI_FOCAL_LENGTH = 23, // in pixels
-    OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = OPENNI_IMAGE_GENERATOR + OPENNI_OUTPUT_MODE,
-    OPENNI_DEPTH_GENERATOR_BASELINE = OPENNI_DEPTH_GENERATOR + OPENNI_BASELINE,
-    OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = OPENNI_DEPTH_GENERATOR + OPENNI_FOCAL_LENGTH
-};
-
-// Supported output modes of OpenNI image generator
-enum
-{
-    OPENNI_VGA_30HZ     = 0,
-    OPENNI_SXGA_15HZ    = 1
-};
-
-const int OPENNI_BAD_DEPTH_VAL = 0;
-const int OPENNI_BAD_DISP_VAL = 0;
-
 /****************************************************************************************\
 *                              Obsolete functions/synonyms                               *
 \****************************************************************************************/