pdoMap is a robust PHP ORM with many OOP features. The mapping structure, requests, and transactions are defined in XML files. The core directly generates PHP classes for high performance. It is very easy to use and configure. It features fully optimized code, caching data, a full lazy loading system, and an open system for extending all functionality.
Nitro is a really easy to use, very customizable, and extensible ORM for CodeIgniter. It's pure PHP, which means you won't have to install any commandline tools to run it, just one mapping file (or as many as you like), which is as simple as defining a PHP array, and let Nitro create the classes and manage the relations.