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+HighGUI {#tutorial_ug_intelperc}
+=======
+
+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:
+    -   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)
+    -   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)
+    -   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:
+    -   CAP_INTELPERC_IMAGE - color image. (CV_8UC3)
+
+In order to get depth map from depth sensor use VideoCapture::operator \>\>, e. g. :
+@code{.cpp}
+    VideoCapture capture( CAP_INTELPERC );
+    for(;;)
+    {
+        Mat depthMap;
+        capture >> depthMap;
+
+        if( waitKey( 30 ) >= 0 )
+            break;
+    }
+@endcode
+For getting several data maps use VideoCapture::grab and VideoCapture::retrieve, e.g. :
+@code{.cpp}
+    VideoCapture capture(CAP_INTELPERC);
+    for(;;)
+    {
+        Mat depthMap;
+        Mat image;
+        Mat irImage;
+
+        capture.grab();
+
+        capture.retrieve( depthMap, CAP_INTELPERC_DEPTH_MAP );
+        capture.retrieve(    image, CAP_INTELPERC_IMAGE );
+        capture.retrieve(  irImage, CAP_INTELPERC_IR_MAP);
+
+        if( waitKey( 30 ) >= 0 )
+            break;
+    }
+@endcode
+For setting and getting some property of sensor\` data generators use VideoCapture::set and
+VideoCapture::get methods respectively, e.g. :
+@code{.cpp}
+    VideoCapture capture( CAP_INTELPERC );
+    capture.set( CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0 );
+    cout << "FPS    " << capture.get( CAP_INTELPERC_DEPTH_GENERATOR+CAP_PROP_FPS ) << endl;
+@endcode
+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:
+
+-   CAP_INTELPERC_IMAGE_GENERATOR -- a flag for access to the image generator properties.
+-   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
+[intelpercccaptureccpp](https://github.com/Itseez/opencv/tree/master/samples/cpp/intelperc_capture.cpp)
+in opencv/samples/cpp folder.