modules/videoio/src/cap

/* [<][>][^][v][top][bottom][index][help] */
This source file includes following definitions.
maxTimeDuration
setMaxBufferSize
getMaxBufferSize
setIsCircleBuffer
getIsCircleBuffer
setMaxTimeDuration
getMaxTimeDuration
grab
start
finish
isRun
isImageFilled
spin
grab
isSpinContinue
pushDepthMetaData
pushImageMetaData
popDepthMetaData
popImageMetaData
setMaxBufferSize
isSpinContinue
pushDepthMetaData
pushImageMetaData
popDepthMetaData
popImageMetaData
setMaxBufferSize
grab
execute
getIplImagePtr
isOpened
defaultMapOutputMode
readCamerasParams
getProperty
setProperty
getCommonProperty
setCommonProperty
getDepthGeneratorProperty
setDepthGeneratorProperty
getImageGeneratorProperty
setImageGeneratorProperty
grabFrame
getDepthMapFromMetaData
retrieveDepthMap
retrievePointCloudMap
computeDisparity_32F
retrieveDisparityMap
retrieveDisparityMap_32F
retrieveValidDepthMask
getBGRImageFromMetaData
retrieveBGRImage
retrieveGrayImage
retrieveFrame
cvCreateCameraCapture_OpenNI
cvCreateFileCapture_OpenNI
/*M///////////////////////////////////////////////////////////////////////////////////////
//
//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
//
//
//                        Intel License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistribution's in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
//   * The name of Intel Corporation may not be used to endorse or promote products
//     derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"

#ifdef HAVE_OPENNI

#if defined TBB_INTERFACE_VERSION && TBB_INTERFACE_VERSION < 5000
# undef HAVE_TBB
#endif

#include <queue>

#ifndef i386
#  define i386 0
#endif
#ifndef __arm__
#  define __arm__ 0
#endif
#ifndef _ARC
#  define _ARC 0
#endif
#ifndef __APPLE__
#  define __APPLE__ 0
#endif

#include "XnCppWrapper.h"

const cv::String XMLConfig =
"<OpenNI>"
        "<Licenses>"
        "<License vendor=\"PrimeSense\" key=\"0KOIk2JeIBYClPWVnMoRKn5cdY4=\"/>"
        "</Licenses>"
        "<Log writeToConsole=\"false\" writeToFile=\"false\">"
                "<LogLevel value=\"3\"/>"
                "<Masks>"
                        "<Mask name=\"ALL\" on=\"true\"/>"
                "</Masks>"
                "<Dumps>"
                "</Dumps>"
        "</Log>"
        "<ProductionNodes>"
                "<Node type=\"Image\" name=\"Image1\" stopOnError=\"false\">"
                        "<Configuration>"
                                "<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
                                "<Mirror on=\"false\"/>"
                        "</Configuration>"
                "</Node> "
                "<Node type=\"Depth\" name=\"Depth1\">"
                        "<Configuration>"
                                "<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
                                "<Mirror on=\"false\"/>"
                        "</Configuration>"
                "</Node>"
        "</ProductionNodes>"
"</OpenNI>\n";

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class ApproximateSyncGrabber
{
public:
    ApproximateSyncGrabber( xn::Context &_context,
                            xn::DepthGenerator &_depthGenerator,
                            xn::ImageGenerator &_imageGenerator,
                            int _maxBufferSize, bool _isCircleBuffer, int _maxTimeDuration ) :
        context(_context), depthGenerator(_depthGenerator), imageGenerator(_imageGenerator),
        maxBufferSize(_maxBufferSize), isCircleBuffer(_isCircleBuffer), maxTimeDuration(_maxTimeDuration)
    {
#ifdef HAVE_TBB
        task = 0;
#endif

        CV_Assert( depthGenerator.IsValid() );
        CV_Assert( imageGenerator.IsValid() );
    }

    void setMaxBufferSize( int _maxBufferSize )
    {
        maxBufferSize = _maxBufferSize;
#ifdef HAVE_TBB
        task->setMaxBufferSize();
#endif
    }
    inline int getMaxBufferSize() const { return maxBufferSize; }

    void setIsCircleBuffer( bool _isCircleBuffer ) { isCircleBuffer = _isCircleBuffer; }
    bool getIsCircleBuffer() const { return isCircleBuffer; }

    void setMaxTimeDuration( int _maxTimeDuration ) {  maxTimeDuration = _maxTimeDuration; }
    int getMaxTimeDuration() const { return maxTimeDuration; }

    bool grab( xn::DepthMetaData& depthMetaData,
               xn::ImageMetaData& imageMetaData )
    {
        CV_Assert( task );


        while( task->grab(depthMetaData, imageMetaData) == false )
        {
#ifndef HAVE_TBB
            task->spin();
#endif
        }
        return true;

    }

    void start()
    {
        CV_Assert( depthGenerator.IsValid() );
        CV_Assert( imageGenerator.IsValid() );
#ifdef HAVE_TBB
        task = new( tbb::task::allocate_root() ) TBBApproximateSynchronizerTask( *this );
        tbb::task::enqueue(*task);
#else
        task.reset( new ApproximateSynchronizer( *this ) );
#endif
    }

    void finish()
    {
#ifdef HAVE_TBB
        if( task )
            tbb::task::destroy( *task );
#else
        task.release();
#endif
    }

    bool isRun() const { return task != 0; }

    xn::Context &context;
    xn::DepthGenerator &depthGenerator;
    xn::ImageGenerator &imageGenerator;

private:
    ApproximateSyncGrabber(const ApproximateSyncGrabber&);
    ApproximateSyncGrabber& operator=(const ApproximateSyncGrabber&);

    int maxBufferSize;
    bool isCircleBuffer;
    int maxTimeDuration;

    class ApproximateSynchronizerBase
    {
    public:
        ApproximateSynchronizerBase( ApproximateSyncGrabber& _approxSyncGrabber ) :
            approxSyncGrabber(_approxSyncGrabber), isDepthFilled(false), isImageFilled(false)
        {}

        virtual ~ApproximateSynchronizerBase() {}

        virtual bool isSpinContinue() const = 0;
        virtual void pushDepthMetaData( xn::DepthMetaData& depthMetaData ) = 0;
        virtual void pushImageMetaData( xn::ImageMetaData& imageMetaData ) = 0;
        virtual bool popDepthMetaData( xn::DepthMetaData& depthMetaData ) = 0;
        virtual bool popImageMetaData( xn::ImageMetaData& imageMetaData ) = 0;

        void spin()
        {
            while(isSpinContinue() == true)
            {
                XnStatus status = approxSyncGrabber.context.WaitAnyUpdateAll();
                if( status != XN_STATUS_OK )
                    continue;

                //xn::DepthMetaData depth;
                //xn::ImageMetaData image;
                approxSyncGrabber.depthGenerator.GetMetaData(depth);
                approxSyncGrabber.imageGenerator.GetMetaData(image);

                if( depth.Data() && depth.IsDataNew() )
                    pushDepthMetaData( depth );

                if( image.Data() && image.IsDataNew() )
                    pushImageMetaData( image );
            }
        }

        virtual bool grab( xn::DepthMetaData& depthMetaData,
                           xn::ImageMetaData& imageMetaData )
        {
            for(;;)
            {
                if( !isDepthFilled )
                    isDepthFilled = popDepthMetaData(depth);
                if( !isImageFilled )
                    isImageFilled = popImageMetaData(image);

                if( !isDepthFilled || !isImageFilled )
                    break;

                double timeDiff = 1e-3 * std::abs(static_cast<double>(depth.Timestamp()) - static_cast<double>(image.Timestamp()));

                if( timeDiff <= approxSyncGrabber.maxTimeDuration )
                {
                    depthMetaData.InitFrom(depth);
                    imageMetaData.InitFrom(image);
                    isDepthFilled = isImageFilled = false;
                    return true;
                }
                else
                {
                    if( depth.Timestamp() < image.Timestamp() )
                        isDepthFilled = false;
                    else
                        isImageFilled = false;
                }
            }

            return false;
        }

    protected:
        ApproximateSyncGrabber& approxSyncGrabber;
        xn::DepthMetaData depth;
        xn::ImageMetaData image;
        bool isDepthFilled;
        bool isImageFilled;
    };

    // If there isn't TBB the synchronization will be executed in the main thread.
    class ApproximateSynchronizer: public ApproximateSynchronizerBase
    {
    public:
        ApproximateSynchronizer( ApproximateSyncGrabber& _approxSyncGrabber ) :
            ApproximateSynchronizerBase(_approxSyncGrabber)
        {}

        virtual bool isSpinContinue() const
        {
            int maxBufferSize = approxSyncGrabber.getMaxBufferSize();
            return (maxBufferSize <= 0) || (static_cast<int>(depthQueue.size()) < maxBufferSize &&
                                           static_cast<int>(imageQueue.size()) < maxBufferSize); // "<" to may push
        }

        virtual inline void pushDepthMetaData( xn::DepthMetaData& depthMetaData )
        {
            cv::Ptr<xn::DepthMetaData> depthPtr = cv::makePtr<xn::DepthMetaData>();
            depthPtr->CopyFrom(depthMetaData);
            depthQueue.push(depthPtr);
        }
        virtual inline void pushImageMetaData( xn::ImageMetaData& imageMetaData )
        {
            cv::Ptr<xn::ImageMetaData> imagePtr = cv::makePtr<xn::ImageMetaData>();
            imagePtr->CopyFrom(imageMetaData);
            imageQueue.push(imagePtr);
        }
        virtual inline bool popDepthMetaData( xn::DepthMetaData& depthMetaData )
        {
            if( depthQueue.empty() )
                return false;

            depthMetaData.CopyFrom(*depthQueue.front());
            depthQueue.pop();
            return true;
        }
        virtual inline bool popImageMetaData( xn::ImageMetaData& imageMetaData )
        {
            if( imageQueue.empty() )
                return false;

            imageMetaData.CopyFrom(*imageQueue.front());
            imageQueue.pop();
            return true;
        }

    private:
        std::queue<cv::Ptr<xn::DepthMetaData> > depthQueue;
        std::queue<cv::Ptr<xn::ImageMetaData> > imageQueue;
    };

#ifdef HAVE_TBB
    // If there is TBB the synchronization will be executed in own thread.
    class TBBApproximateSynchronizer: public ApproximateSynchronizerBase
    {
    public:
        TBBApproximateSynchronizer( ApproximateSyncGrabber& _approxSyncGrabber ) :
            ApproximateSynchronizerBase(_approxSyncGrabber)
        {
            setMaxBufferSize();
        }

        void setMaxBufferSize()
        {
            int maxBufferSize = approxSyncGrabber.getMaxBufferSize();
            if( maxBufferSize >= 0 )
            {
                depthQueue.set_capacity( maxBufferSize );
                imageQueue.set_capacity( maxBufferSize );
            }
        }

        virtual inline bool isSpinContinue() const { return true; }

        virtual inline void pushDepthMetaData( xn::DepthMetaData& depthMetaData )
        {
            cv::Ptr<xn::DepthMetaData> depthPtr = cv::makePtr<xn::DepthMetaData>(), tmp;
            depthPtr->CopyFrom(depthMetaData);

            tbb::mutex mtx;
            mtx.lock();
            if( depthQueue.try_push(depthPtr) == false )
            {
                if( approxSyncGrabber.getIsCircleBuffer() )
                {
                    CV_Assert( depthQueue.try_pop(tmp) );
                    CV_Assert( depthQueue.try_push(depthPtr) );
                }
            }
            mtx.unlock();
        }

        virtual inline void pushImageMetaData( xn::ImageMetaData& imageMetaData )
        {
            cv::Ptr<xn::ImageMetaData> imagePtr = cv::makePtr<xn::ImageMetaData>(), tmp;
            imagePtr->CopyFrom(imageMetaData);

            tbb::mutex mtx;
            mtx.lock();
            if( imageQueue.try_push(imagePtr) == false )
            {
                if( approxSyncGrabber.getIsCircleBuffer() )
                {
                    CV_Assert( imageQueue.try_pop(tmp) );
                    CV_Assert( imageQueue.try_push(imagePtr) );
                }
            }
            mtx.unlock();
        }

        virtual inline bool popDepthMetaData( xn::DepthMetaData& depthMetaData )
        {
            cv::Ptr<xn::DepthMetaData> depthPtr;
            bool isPop = depthQueue.try_pop(depthPtr);
            if( isPop )
                depthMetaData.CopyFrom(*depthPtr);
            return isPop;
        }
        virtual inline bool popImageMetaData( xn::ImageMetaData& imageMetaData )
        {
            cv::Ptr<xn::ImageMetaData> imagePtr;
            bool isPop = imageQueue.try_pop(imagePtr);
            if( isPop )
                imageMetaData.CopyFrom(*imagePtr);
            return isPop;
        }

    private:
        tbb::concurrent_bounded_queue<cv::Ptr<xn::DepthMetaData> > depthQueue;
        tbb::concurrent_bounded_queue<cv::Ptr<xn::ImageMetaData> > imageQueue;
    };

    class TBBApproximateSynchronizerTask: public tbb::task
    {
    public:
        TBBApproximateSynchronizerTask( ApproximateSyncGrabber& approxSyncGrabber ) :
            synchronizer(approxSyncGrabber)
        {}

        void setMaxBufferSize()
        {
            synchronizer.setMaxBufferSize();
        }

        bool grab( xn::DepthMetaData& depthMetaData,
                   xn::ImageMetaData& imageMetaData )
        {
            return synchronizer.grab( depthMetaData, imageMetaData );
        }

    private:
        tbb::task* execute()
        {
            synchronizer.spin();
            return 0;
        }
        TBBApproximateSynchronizer synchronizer;
    };
#endif // HAVE_TBB

#ifdef HAVE_TBB
    TBBApproximateSynchronizerTask* task;
#else
    cv::Ptr<ApproximateSynchronizer> task;
#endif
};

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class CvCapture_OpenNI : public CvCapture
{
public:
    enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_MAX=1 };

    static const int INVALID_PIXEL_VAL = 0;
    static const int INVALID_COORDINATE_VAL = 0;

#ifdef HAVE_TBB
    static const int DEFAULT_MAX_BUFFER_SIZE = 8;
#else
    static const int DEFAULT_MAX_BUFFER_SIZE = 2;
#endif
    static const int DEFAULT_IS_CIRCLE_BUFFER = 0;
    static const int DEFAULT_MAX_TIME_DURATION = 20;

    CvCapture_OpenNI(int index=0);
    CvCapture_OpenNI(const char * filename);
    virtual ~CvCapture_OpenNI();

    virtual double getProperty(int propIdx) const;
    virtual bool setProperty(int probIdx, double propVal);
    virtual bool grabFrame();
    virtual IplImage* retrieveFrame(int outputType);

    bool isOpened() const;

protected:
    struct OutputMap
    {
    public:
        cv::Mat mat;
        IplImage* getIplImagePtr();
    private:
        IplImage iplHeader;
    };

    static const int outputMapsTypesCount = 7;

    static XnMapOutputMode defaultMapOutputMode();

    IplImage* retrieveDepthMap();
    IplImage* retrievePointCloudMap();
    IplImage* retrieveDisparityMap();
    IplImage* retrieveDisparityMap_32F();
    IplImage* retrieveValidDepthMask();
    IplImage* retrieveBGRImage();
    IplImage* retrieveGrayImage();

    bool readCamerasParams();

    double getDepthGeneratorProperty(int propIdx) const;
    bool setDepthGeneratorProperty(int propIdx, double propVal);
    double getImageGeneratorProperty(int propIdx) const;
    bool setImageGeneratorProperty(int propIdx, double propVal);
    double getCommonProperty(int propIdx) const;
    bool setCommonProperty(int propIdx, double propVal);

    // OpenNI context
    xn::Context context;
    bool isContextOpened;

    xn::ProductionNode productionNode;

    // Data generators with its metadata
    xn::DepthGenerator depthGenerator;
    xn::DepthMetaData  depthMetaData;

    xn::ImageGenerator imageGenerator;
    xn::ImageMetaData  imageMetaData;

    int maxBufferSize, maxTimeDuration; // for approx sync
    bool isCircleBuffer;
    cv::Ptr<ApproximateSyncGrabber> approxSyncGrabber;

    // Cameras settings:
    // TODO find in OpenNI function to convert z->disparity and remove fields "baseline" and depthFocalLength_VGA
    // Distance between IR projector and IR camera (in meters)
    XnDouble baseline;
    // Focal length for the IR camera in VGA resolution (in pixels)
    XnUInt64 depthFocalLength_VGA;

    // The value for shadow (occluded pixels)
    XnUInt64 shadowValue;
    // The value for pixels without a valid disparity measurement
    XnUInt64 noSampleValue;

    std::vector<OutputMap> outputMaps;
};

IplImage* CvCapture_OpenNI::OutputMap::getIplImagePtr()
{
    if( mat.empty() )
        return 0;

    iplHeader = IplImage(mat);
    return &iplHeader;
}

bool CvCapture_OpenNI::isOpened() const
{
    return isContextOpened;
}

XnMapOutputMode CvCapture_OpenNI::defaultMapOutputMode()
{
    XnMapOutputMode mode;
    mode.nXRes = XN_VGA_X_RES;
    mode.nYRes = XN_VGA_Y_RES;
    mode.nFPS  = 30;
    return mode;
}

CvCapture_OpenNI::CvCapture_OpenNI( int index )
{
    int deviceType = DEVICE_DEFAULT;
    XnStatus status;

    isContextOpened = false;
    maxBufferSize = DEFAULT_MAX_BUFFER_SIZE;
    isCircleBuffer = DEFAULT_IS_CIRCLE_BUFFER;
    maxTimeDuration = DEFAULT_MAX_TIME_DURATION;

    if( index >= 10 )
    {
        deviceType = index / 10;
        index %= 10;
    }

    if( deviceType > DEVICE_MAX )
        return;

    // Initialize and configure the context.
    status = context.Init();
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to initialize the context: %s\n", xnGetStatusString(status));
        return;
    }

    // Find devices
    xn::NodeInfoList devicesList;
    status = context.EnumerateProductionTrees( XN_NODE_TYPE_DEVICE, NULL, devicesList, 0 );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate production trees: %s\n", xnGetStatusString(status));
        return;
    }

    // Chose device according to index
    xn::NodeInfoList::Iterator it = devicesList.Begin();
    for( int i = 0; i < index && it!=devicesList.End(); ++i ) it++;
        if ( it == devicesList.End() )
        {
            fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed device with index %d\n", index);
            return;
        }

    xn::NodeInfo deviceNode = *it;
    status = context.CreateProductionTree( deviceNode, productionNode );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create production tree: %s\n", xnGetStatusString(status));
        return;
    }

    xn::ScriptNode scriptNode;
    status = context.RunXmlScript( XMLConfig.c_str(), scriptNode );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to run xml script: %s\n", xnGetStatusString(status));
        return;
    }

    // Associate generators with context.
    // enumerate the nodes to find if depth generator is present
    xn::NodeInfoList depthList;
    status = context.EnumerateExistingNodes( depthList, XN_NODE_TYPE_DEPTH );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate depth generators: %s\n", xnGetStatusString(status));
        return;
    }
    if( depthList.IsEmpty() )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : The device doesn't have depth generator. Such devices aren't supported now.\n");
        return;
    }
    status = depthGenerator.Create( context );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create depth generator: %s\n", xnGetStatusString(status));
        return;
    }

    // enumerate the nodes to find if image generator is present
    xn::NodeInfoList imageList;
    status = context.EnumerateExistingNodes( imageList, XN_NODE_TYPE_IMAGE );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate image generators: %s\n", xnGetStatusString(status));
        return;
    }

    if( !imageList.IsEmpty() )
    {
        status = imageGenerator.Create( context );
        if( status != XN_STATUS_OK )
        {
            fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: %s\n", xnGetStatusString(status));
            return;
        }
    }

    // Set map output mode.
    if( depthGenerator.IsValid() )
    {
        CV_DbgAssert( depthGenerator.SetMapOutputMode(defaultMapOutputMode()) == XN_STATUS_OK ); // xn::DepthGenerator supports VGA only! (Jan 2011)
    }
    if( imageGenerator.IsValid() )
    {
        CV_DbgAssert( imageGenerator.SetMapOutputMode(defaultMapOutputMode()) == XN_STATUS_OK );
    }

    if( deviceType == DEVICE_ASUS_XTION )
    {
        //ps/asus specific
        imageGenerator.SetIntProperty("InputFormat", 1 /*XN_IO_IMAGE_FORMAT_YUV422*/);
        imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
        depthGenerator.SetIntProperty("RegistrationType", 1 /*XN_PROCESSING_HARDWARE*/);
    }

    //  Start generating data.
    status = context.StartGeneratingAll();
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to start generating OpenNI data: %s\n", xnGetStatusString(status));
        return;
    }

    if( !readCamerasParams() )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Could not read cameras parameters\n");
        return;
    }

    outputMaps.resize( outputMapsTypesCount );

    isContextOpened = true;

    setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
}

CvCapture_OpenNI::CvCapture_OpenNI(const char * filename)
{
    XnStatus status;

    isContextOpened = false;
    maxBufferSize = DEFAULT_MAX_BUFFER_SIZE;
    isCircleBuffer = DEFAULT_IS_CIRCLE_BUFFER;
    maxTimeDuration = DEFAULT_MAX_TIME_DURATION;

    // Initialize and configure the context.
    status = context.Init();
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to initialize the context: %s\n", xnGetStatusString(status));
        return;
    }

    // Open file
    status = context.OpenFileRecording( filename, productionNode );
    if( status != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Failed to open input file (%s): %s\n", filename, xnGetStatusString(status));
        return;
    }

    context.FindExistingNode( XN_NODE_TYPE_DEPTH, depthGenerator );
    context.FindExistingNode( XN_NODE_TYPE_IMAGE, imageGenerator );

    if( !readCamerasParams() )
    {
        fprintf(stderr, "CvCapture_OpenNI::CvCapture_OpenNI : Could not read cameras parameters\n");
        return;
    }

    outputMaps.resize( outputMapsTypesCount );

    isContextOpened = true;
}

CvCapture_OpenNI::~CvCapture_OpenNI()
{
    context.StopGeneratingAll();
    context.Release();
}

bool CvCapture_OpenNI::readCamerasParams()
{
    XnDouble pixelSize = 0;
    if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::readCamerasParams : Could not read pixel size!\n");
        return false;
    }

    // pixel size @ VGA = pixel size @ SXGA x 2
    pixelSize *= 2.0; // in mm

    // focal length of IR camera in pixels for VGA resolution
    XnUInt64 zeroPlanDistance; // in mm
    if( depthGenerator.GetIntProperty( "ZPD", zeroPlanDistance ) != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::readCamerasParams : Could not read virtual plane distance!\n");
        return false;
    }

    if( depthGenerator.GetRealProperty( "LDDIS", baseline ) != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::readCamerasParams : Could not read base line!\n");
        return false;
    }

    // baseline from cm -> mm
    baseline *= 10;

    // focal length from mm -> pixels (valid for 640x480)
    depthFocalLength_VGA = (XnUInt64)((double)zeroPlanDistance / (double)pixelSize);

    if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::readCamerasParams : Could not read property \"ShadowValue\"!\n");
        return false;
    }

    if( depthGenerator.GetIntProperty("NoSampleValue", noSampleValue ) != XN_STATUS_OK )
    {
        fprintf(stderr, "CvCapture_OpenNI::readCamerasParams : Could not read property \"NoSampleValue\"!\n");
        return false;
    }

    return true;
}

double CvCapture_OpenNI::getProperty( int propIdx ) const
{
    double propValue = 0;

    if( isOpened() )
    {
        int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;

        if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
        {
            propValue = getImageGeneratorProperty( purePropIdx );
        }
        else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
        {
            propValue = getDepthGeneratorProperty( purePropIdx );
        }
        else
        {
            propValue = getCommonProperty( purePropIdx );
        }
    }

    return propValue;
}

bool CvCapture_OpenNI::setProperty( int propIdx, double propValue )
{
    bool isSet = false;
    if( isOpened() )
    {
        int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;

        if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
        {
            isSet = setImageGeneratorProperty( purePropIdx, propValue );
        }
        else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
        {
            isSet = setDepthGeneratorProperty( purePropIdx, propValue );
        }
        else
        {
            isSet = setCommonProperty( purePropIdx, propValue );
        }
    }

    return isSet;
}

double CvCapture_OpenNI::getCommonProperty( int propIdx ) const
{
    double propValue = 0;

    switch( propIdx )
    {
    // There is a set of properties that correspond to depth generator by default
    // (is they are pass without particular generator flag). Two reasons of this:
    // 1) We can assume that depth generator is the main one for depth sensor.
    // 2) In the initial vertions of OpenNI integration to OpenCV the value of
    //    flag CV_CAP_OPENNI_DEPTH_GENERATOR was 0 (it isn't zero now).
    case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
    case CV_CAP_PROP_FRAME_WIDTH :
    case CV_CAP_PROP_FRAME_HEIGHT :
    case CV_CAP_PROP_FPS :
    case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
    case CV_CAP_PROP_OPENNI_BASELINE :
    case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
    case CV_CAP_PROP_OPENNI_REGISTRATION :
        propValue = getDepthGeneratorProperty( propIdx );
        break;
    case CV_CAP_PROP_OPENNI_APPROX_FRAME_SYNC :
        propValue = !approxSyncGrabber.empty() && approxSyncGrabber->isRun() ? 1. : 0.;
        break;
    case CV_CAP_PROP_OPENNI_MAX_BUFFER_SIZE :
        propValue = maxBufferSize;
        break;
    case CV_CAP_PROP_OPENNI_CIRCLE_BUFFER :
        propValue = isCircleBuffer ? 1. : 0.;
        break;
    case CV_CAP_PROP_OPENNI_MAX_TIME_DURATION :
        propValue = maxTimeDuration;
        break;
    default :
        CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for getting.\n", propIdx) );
    }

    return propValue;
}

bool CvCapture_OpenNI::setCommonProperty( int propIdx, double propValue )
{
    bool isSet = false;

    switch( propIdx )
    {
    // There is a set of properties that correspond to depth generator by default
    // (is they are pass without particular generator flag).
    case CV_CAP_PROP_OPENNI_REGISTRATION:
        isSet = setDepthGeneratorProperty( propIdx, propValue );
        break;
    case CV_CAP_PROP_OPENNI_APPROX_FRAME_SYNC :
        if( propValue && depthGenerator.IsValid() && imageGenerator.IsValid() )
        {
            // start synchronization
            if( approxSyncGrabber.empty() )
            {
                approxSyncGrabber.reset(new ApproximateSyncGrabber( context, depthGenerator, imageGenerator, maxBufferSize, isCircleBuffer, maxTimeDuration ));
            }
            else
            {
                approxSyncGrabber->finish();

                // update params
                approxSyncGrabber->setMaxBufferSize(maxBufferSize);
                approxSyncGrabber->setIsCircleBuffer(isCircleBuffer);
                approxSyncGrabber->setMaxTimeDuration(maxTimeDuration);
            }
            approxSyncGrabber->start();
        }
        else if( !propValue && !approxSyncGrabber.empty() )
        {
            // finish synchronization
            approxSyncGrabber->finish();
        }
        break;
    case CV_CAP_PROP_OPENNI_MAX_BUFFER_SIZE :
        maxBufferSize = cvRound(propValue);
        if( !approxSyncGrabber.empty() )
            approxSyncGrabber->setMaxBufferSize(maxBufferSize);
        break;
    case CV_CAP_PROP_OPENNI_CIRCLE_BUFFER :
        if( !approxSyncGrabber.empty() )
            approxSyncGrabber->setIsCircleBuffer(isCircleBuffer);
        break;
    case CV_CAP_PROP_OPENNI_MAX_TIME_DURATION :
        maxTimeDuration = cvRound(propValue);
        if( !approxSyncGrabber.empty() )
            approxSyncGrabber->setMaxTimeDuration(maxTimeDuration);
        break;
    default:
        CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for setting.\n", propIdx) );
    }

    return isSet;
}

double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx ) const
{
    double propValue = 0;
    if( !depthGenerator.IsValid() )
        return propValue;

    XnMapOutputMode mode;

    switch( propIdx )
    {
    case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
        CV_DbgAssert( depthGenerator.IsValid() );
        propValue = 1.;
        break;
    case CV_CAP_PROP_FRAME_WIDTH :
        if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
            propValue = mode.nXRes;
        break;
    case CV_CAP_PROP_FRAME_HEIGHT :
        if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
            propValue = mode.nYRes;
        break;
    case CV_CAP_PROP_FPS :
        if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
            propValue = mode.nFPS;
        break;
    case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
        propValue = depthGenerator.GetDeviceMaxDepth();
        break;
    case CV_CAP_PROP_OPENNI_BASELINE :
        propValue = baseline;
        break;
    case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
        propValue = (double)depthFocalLength_VGA;
        break;
    case CV_CAP_PROP_OPENNI_REGISTRATION :
        propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(const_cast<CvCapture_OpenNI *>(this)->imageGenerator) ? 1.0 : 0.0;
        break;
    case CV_CAP_PROP_POS_MSEC :
        propValue = (double)depthGenerator.GetTimestamp();
        break;
    case CV_CAP_PROP_POS_FRAMES :
        propValue = depthGenerator.GetFrameID();
        break;
    default :
        CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.\n", propIdx) );
    }

    return propValue;
}

bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
{
    bool isSet = false;

    CV_Assert( depthGenerator.IsValid() );

    switch( propIdx )
    {
    case CV_CAP_PROP_OPENNI_REGISTRATION:
        {
            if( propValue != 0.0 ) // "on"
            {
                // if there isn't image generator (i.e. ASUS XtionPro doesn't have it)
                // then the property isn't avaliable
                if( imageGenerator.IsValid() )
                {
                    if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
                    {
                        if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
                        {
                            XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
                            if( status != XN_STATUS_OK )
                                fprintf(stderr, "CvCapture_OpenNI::setDepthGeneratorProperty : %s\n", xnGetStatusString(status));
                            else
                                isSet = true;
                        }
                        else
                            fprintf(stderr, "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint.\n");
                    }
                    else
                        isSet = true;
                }
            }
            else // "off"
            {
                XnStatus status = depthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
                if( status != XN_STATUS_OK )
                    fprintf(stderr, "CvCapture_OpenNI::setDepthGeneratorProperty : %s\n", xnGetStatusString(status));
                else
                    isSet = true;
            }
        }
        break;
    default:
        CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for setting.\n", propIdx) );
    }

    return isSet;
}

double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx ) const
{
    double propValue = 0.;
    if( !imageGenerator.IsValid() )
        return propValue;

    XnMapOutputMode mode;
    switch( propIdx )
    {
    case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
        CV_DbgAssert( imageGenerator.IsValid() );
        propValue = 1.;
        break;
    case CV_CAP_PROP_FRAME_WIDTH :
        if( imageGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
            propValue = mode.nXRes;
        break;
    case CV_CAP_PROP_FRAME_HEIGHT :
        if( imageGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
            propValue = mode.nYRes;
        break;
    case CV_CAP_PROP_FPS :
        if( imageGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
            propValue = mode.nFPS;
        break;
    case CV_CAP_PROP_POS_MSEC :
        propValue = (double)imageGenerator.GetTimestamp();
        break;
    case CV_CAP_PROP_POS_FRAMES :
        propValue = (double)imageGenerator.GetFrameID();
        break;
    default :
        CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.\n", propIdx) );
    }

    return propValue;
}

bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue )
{
    bool isSet = false;
    if( !imageGenerator.IsValid() )
        return isSet;

    switch( propIdx )
    {
    case CV_CAP_PROP_OPENNI_OUTPUT_MODE :
    {
        XnMapOutputMode mode;

        switch( cvRound(propValue) )
        {
        case CV_CAP_OPENNI_VGA_30HZ :
            mode.nXRes = XN_VGA_X_RES;
            mode.nYRes = XN_VGA_Y_RES;
            mode.nFPS = 30;
            break;
        case CV_CAP_OPENNI_SXGA_15HZ :
            mode.nXRes = XN_SXGA_X_RES;
            mode.nYRes = XN_SXGA_Y_RES;
            mode.nFPS = 15;
            break;
        case CV_CAP_OPENNI_SXGA_30HZ :
            mode.nXRes = XN_SXGA_X_RES;
            mode.nYRes = XN_SXGA_Y_RES;
            mode.nFPS = 30;
            break;
        case CV_CAP_OPENNI_QVGA_30HZ :
             mode.nXRes = XN_QVGA_X_RES;
             mode.nYRes = XN_QVGA_Y_RES;
             mode.nFPS = 30;
             break;
        case CV_CAP_OPENNI_QVGA_60HZ :
             mode.nXRes = XN_QVGA_X_RES;
             mode.nYRes = XN_QVGA_Y_RES;
             mode.nFPS = 60;
             break;
        default :
            CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
        }

        XnStatus status = imageGenerator.SetMapOutputMode( mode );
        if( status != XN_STATUS_OK )
            fprintf(stderr, "CvCapture_OpenNI::setImageGeneratorProperty : %s\n", xnGetStatusString(status));
        else
            isSet = true;
        break;
    }
    default:
        CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.\n", propIdx) );
    }

    return isSet;
}

bool CvCapture_OpenNI::grabFrame()
{
    if( !isOpened() )
        return false;

    bool isGrabbed = false;
    if( !approxSyncGrabber.empty() && approxSyncGrabber->isRun() )
    {
        isGrabbed = approxSyncGrabber->grab( depthMetaData, imageMetaData );
    }
    else
    {
        XnStatus status = context.WaitAndUpdateAll();
        if( status != XN_STATUS_OK )
            return false;

        if( depthGenerator.IsValid() )
            depthGenerator.GetMetaData( depthMetaData );
        if( imageGenerator.IsValid() )
            imageGenerator.GetMetaData( imageMetaData );
        isGrabbed = true;
    }

    return isGrabbed;
}

inline void getDepthMapFromMetaData( const xn::DepthMetaData& depthMetaData, cv::Mat& depthMap, XnUInt64 noSampleValue, XnUInt64 shadowValue )
{
    int cols = depthMetaData.XRes();
    int rows = depthMetaData.YRes();

    depthMap.create( rows, cols, CV_16UC1 );

    const XnDepthPixel* pDepthMap = depthMetaData.Data();

    // CV_Assert( sizeof(unsigned short) == sizeof(XnDepthPixel) );
    memcpy( depthMap.data, pDepthMap, cols*rows*sizeof(XnDepthPixel) );

    cv::Mat badMask = (depthMap == (double)noSampleValue) | (depthMap == (double)shadowValue) | (depthMap == 0);

    // mask the pixels with invalid depth
    depthMap.setTo( cv::Scalar::all( CvCapture_OpenNI::INVALID_PIXEL_VAL ), badMask );
}

IplImage* CvCapture_OpenNI::retrieveDepthMap()
{
    if( !depthMetaData.Data() )
        return 0;

    getDepthMapFromMetaData( depthMetaData, outputMaps[CV_CAP_OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );

    return outputMaps[CV_CAP_OPENNI_DEPTH_MAP].getIplImagePtr();
}

IplImage* CvCapture_OpenNI::retrievePointCloudMap()
{
    if( !depthMetaData.Data() )
        return 0;

    cv::Mat depth;
    getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );

    const int badPoint = INVALID_PIXEL_VAL;
    const float badCoord = INVALID_COORDINATE_VAL;
    int cols = depthMetaData.XRes(), rows = depthMetaData.YRes();
    cv::Mat pointCloud_XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );

    std::vector<XnPoint3D> proj(cols*rows);
    std::vector<XnPoint3D> real(cols*rows);
    for( int y = 0; y < rows; y++ )
    {
        for( int x = 0; x < cols; x++ )
        {
            int ind = y*cols+x;
            proj[ind].X = (float)x;
            proj[ind].Y = (float)y;
            proj[ind].Z = depth.at<unsigned short>(y, x);
        }
    }
    depthGenerator.ConvertProjectiveToRealWorld(cols*rows, &proj.front(), &real.front());

    for( int y = 0; y < rows; y++ )
    {
        for( int x = 0; x < cols; x++ )
        {
            // Check for invalid measurements
            if( depth.at<unsigned short>(y, x) == badPoint ) // not valid
                pointCloud_XYZ.at<cv::Point3f>(y,x) = cv::Point3f( badCoord, badCoord, badCoord );
            else
            {
                int ind = y*cols+x;
                pointCloud_XYZ.at<cv::Point3f>(y,x) = cv::Point3f( real[ind].X*0.001f, real[ind].Y*0.001f, real[ind].Z*0.001f); // from mm to meters
            }
        }
    }

    outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].mat = pointCloud_XYZ;

    return outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].getIplImagePtr();
}

static void computeDisparity_32F( const xn::DepthMetaData& depthMetaData, cv::Mat& disp, XnDouble baseline, XnUInt64 F,
                           XnUInt64 noSampleValue, XnUInt64 shadowValue )
{
    cv::Mat depth;
    getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
    CV_Assert( depth.type() == CV_16UC1 );


    // disparity = baseline * F / z;

    float mult = (float)(baseline /*mm*/ * F /*pixels*/);

    disp.create( depth.size(), CV_32FC1);
    disp = cv::Scalar::all( CvCapture_OpenNI::INVALID_PIXEL_VAL );
    for( int y = 0; y < disp.rows; y++ )
    {
        for( int x = 0; x < disp.cols; x++ )
        {
            unsigned short curDepth = depth.at<unsigned short>(y,x);
            if( curDepth != CvCapture_OpenNI::INVALID_PIXEL_VAL )
                disp.at<float>(y,x) = mult / curDepth;
        }
    }
}

IplImage* CvCapture_OpenNI::retrieveDisparityMap()
{
    if( !depthMetaData.Data() )
        return 0;

    cv::Mat disp32;
    computeDisparity_32F( depthMetaData, disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );

    disp32.convertTo( outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].mat, CV_8UC1 );

    return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].getIplImagePtr();
}

IplImage* CvCapture_OpenNI::retrieveDisparityMap_32F()
{
    if( !depthMetaData.Data() )
        return 0;

    computeDisparity_32F( depthMetaData, outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );

    return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
}

IplImage* CvCapture_OpenNI::retrieveValidDepthMask()
{
    if( !depthMetaData.Data() )
        return 0;

    cv::Mat depth;
    getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );

    outputMaps[CV_CAP_OPENNI_VALID_DEPTH_MASK].mat = depth != CvCapture_OpenNI::INVALID_PIXEL_VAL;

    return outputMaps[CV_CAP_OPENNI_VALID_DEPTH_MASK].getIplImagePtr();
}

inline void getBGRImageFromMetaData( const xn::ImageMetaData& imageMetaData, cv::Mat& bgrImage )
{
    if( imageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24 )
        CV_Error( CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n" );

    cv::Mat rgbImage( imageMetaData.YRes(), imageMetaData.XRes(), CV_8UC3 );
    const XnRGB24Pixel* pRgbImage = imageMetaData.RGB24Data();

    // CV_Assert( 3*sizeof(uchar) == sizeof(XnRGB24Pixel) );
    memcpy( rgbImage.data, pRgbImage, rgbImage.total()*sizeof(XnRGB24Pixel) );
    cv::cvtColor( rgbImage, bgrImage, CV_RGB2BGR );
}

IplImage* CvCapture_OpenNI::retrieveBGRImage()
{
    if( !imageMetaData.Data() )
        return 0;

    getBGRImageFromMetaData( imageMetaData, outputMaps[CV_CAP_OPENNI_BGR_IMAGE].mat );

    return outputMaps[CV_CAP_OPENNI_BGR_IMAGE].getIplImagePtr();
}

IplImage* CvCapture_OpenNI::retrieveGrayImage()
{
    if( !imageMetaData.Data() )
        return 0;

    CV_Assert( imageMetaData.BytesPerPixel() == 3 ); // RGB

    cv::Mat rgbImage;
    getBGRImageFromMetaData( imageMetaData, rgbImage );
    cv::cvtColor( rgbImage, outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].mat, CV_BGR2GRAY );

    return outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].getIplImagePtr();
}

IplImage* CvCapture_OpenNI::retrieveFrame( int outputType )
{
    IplImage* image = 0;
    CV_Assert( outputType < outputMapsTypesCount && outputType >= 0);

    if( outputType == CV_CAP_OPENNI_DEPTH_MAP )
    {
        image = retrieveDepthMap();
    }
    else if( outputType == CV_CAP_OPENNI_POINT_CLOUD_MAP )
    {
        image = retrievePointCloudMap();
    }
    else if( outputType == CV_CAP_OPENNI_DISPARITY_MAP )
    {
        image = retrieveDisparityMap();
    }
    else if( outputType == CV_CAP_OPENNI_DISPARITY_MAP_32F )
    {
        image = retrieveDisparityMap_32F();
    }
    else if( outputType == CV_CAP_OPENNI_VALID_DEPTH_MASK )
    {
        image = retrieveValidDepthMask();
    }
    else if( outputType == CV_CAP_OPENNI_BGR_IMAGE )
    {
        image = retrieveBGRImage();
    }
    else if( outputType == CV_CAP_OPENNI_GRAY_IMAGE )
    {
        image = retrieveGrayImage();
    }

    return image;
}


CvCapture* cvCreateCameraCapture_OpenNI( int index )
{
    CvCapture_OpenNI* capture = new CvCapture_OpenNI( index );

    if( capture->isOpened() )
        return capture;

    delete capture;
    return 0;
}

CvCapture* cvCreateFileCapture_OpenNI( const char* filename )
{
    CvCapture_OpenNI* capture = new CvCapture_OpenNI( filename );

    if( capture->isOpened() )
        return capture;

    delete capture;
    return 0;
}

#endif
/* [<][>][^][v][top][bottom][index][help] */
root/modules/videoio/src/cap_openni.cpp

DEFINITIONS
