Merge remote-tracking branch 'origin/2.4' into merge-2.4

Conflicts:
	CMakeLists.txt
	modules/highgui/src/cap.cpp
	modules/nonfree/src/surf.ocl.cpp
	modules/ocl/include/opencv2/ocl/ocl.hpp
	modules/ocl/src/color.cpp
	modules/ocl/src/gftt.cpp
	modules/ocl/src/imgproc.cpp
	samples/ocl/facedetect.cpp

doc/tutorials/introduction/crosscompilation/arm_crosscompile_with_cmake.rst

@@ -106,8 +106,8 @@ Enable hardware optimizations
 -----------------------------
 
 Depending on target platform architecture different instruction sets can be used. By default
-compiler generates code for armv5l without VFPv3 and NEON extensions. Add ``-DUSE_VFPV3=ON``
-to cmake command line to enable code generation for VFPv3 and ``-DUSE_NEON=ON`` for using
+compiler generates code for armv5l without VFPv3 and NEON extensions. Add ``-DENABLE_VFPV3=ON``
+to cmake command line to enable code generation for VFPv3 and ``-DENABLE_NEON=ON`` for using
 NEON SIMD extensions.
 
 TBB is supported on multi core ARM SoCs also.

doc/user_guide/ug_intelperc.rst

@@ -0,0 +1,79 @@
+*******
+HighGUI
+*******
+
+.. highlight:: cpp
+
+Using Creative Senz3D and other Intel Perceptual Computing SDK compatible depth sensors
+=======================================================================================
+
+Depth sensors compatible with Intel Perceptual Computing SDK are supported through ``VideoCapture`` class. Depth map, RGB image and some other formats of output can be retrieved by using familiar interface of ``VideoCapture``.
+
+In order to use depth sensor with OpenCV you should do the following preliminary steps:
+
+#.
+    Install Intel Perceptual Computing SDK (from here http://www.intel.com/software/perceptual).
+
+#.
+    Configure OpenCV with Intel Perceptual Computing SDK support by setting ``WITH_INTELPERC`` flag in CMake. If Intel Perceptual Computing SDK is found in install folders OpenCV will be built with Intel Perceptual Computing SDK library (see a status ``INTELPERC`` in CMake log). If CMake process doesn't find Intel Perceptual Computing SDK installation folder automatically, the user should change corresponding CMake variables ``INTELPERC_LIB_DIR`` and ``INTELPERC_INCLUDE_DIR`` to the proper value.
+
+#.
+    Build OpenCV.
+
+VideoCapture can retrieve the following data:
+
+#.
+    data given from depth generator:
+      * ``CV_CAP_INTELPERC_DEPTH_MAP``       - each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. (CV_16UC1)
+      * ``CV_CAP_INTELPERC_UVDEPTH_MAP``     - each pixel contains two 32-bit floating point values in the range of 0-1, representing the mapping of depth coordinates to the color coordinates. (CV_32FC2)
+      * ``CV_CAP_INTELPERC_IR_MAP``          - each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam. (CV_16UC1)
+#.
+    data given from RGB image generator:
+      * ``CV_CAP_INTELPERC_IMAGE``           - color image. (CV_8UC3)
+
+In order to get depth map from depth sensor use ``VideoCapture::operator >>``, e. g. ::
+
+    VideoCapture capture( CV_CAP_INTELPERC );
+    for(;;)
+    {
+        Mat depthMap;
+        capture >> depthMap;
+
+        if( waitKey( 30 ) >= 0 )
+            break;
+    }
+
+For getting several data maps use ``VideoCapture::grab`` and ``VideoCapture::retrieve``, e.g. ::
+
+    VideoCapture capture(CV_CAP_INTELPERC);
+    for(;;)
+    {
+        Mat depthMap;
+        Mat image;
+        Mat irImage;
+
+        capture.grab();
+
+        capture.retrieve( depthMap, CV_CAP_INTELPERC_DEPTH_MAP );
+        capture.retrieve(    image, CV_CAP_INTELPERC_IMAGE );
+        capture.retrieve(  irImage, CV_CAP_INTELPERC_IR_MAP);
+
+        if( waitKey( 30 ) >= 0 )
+            break;
+    }
+
+For setting and getting some property of sensor` data generators use ``VideoCapture::set`` and ``VideoCapture::get`` methods respectively, e.g. ::
+
+    VideoCapture capture( CV_CAP_INTELPERC );
+    capture.set( CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0 );
+    cout << "FPS    " << capture.get( CV_CAP_INTELPERC_DEPTH_GENERATOR+CV_CAP_PROP_FPS ) << endl;
+
+Since two types of sensor's data generators are supported (image generator and depth generator), there are two flags that should be used to set/get property of the needed generator:
+
+* CV_CAP_INTELPERC_IMAGE_GENERATOR -- a flag for access to the image generator properties.
+
+* CV_CAP_INTELPERC_DEPTH_GENERATOR -- a flag for access to the depth generator properties. This flag value is assumed by default if neither of the two possible values of the property is set.
+
+For more information please refer to the example of usage intelperc_capture.cpp_ in ``opencv/samples/cpp`` folder.
+
+.. _intelperc_capture.cpp: https://github.com/Itseez/opencv/tree/master/samples/cpp/intelperc_capture.cpp

doc/user_guide/user_guide.rst

@@ -9,3 +9,4 @@ OpenCV User Guide
    ug_features2d.rst
    ug_highgui.rst
    ug_traincascade.rst
+   ug_intelperc.rst