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openni camera launch multikinect

asked 2011-09-22 21:04:14 -0500

kang gravatar image

updated 2016-10-24 09:03:30 -0500

ngrennan gravatar image


I am using multiple kinects. and I want to address the kinect fix by referring to the bus which the kinects are connected. I think i should do something like this to refer the bus (e.g. bus 2) in the openni_node launch file: <param name="device_id" value="002"/>

but it doesn't work. Help will be appreciated.

Cheers, Kang

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When asking a question, please specify what version of the software you're using (e.g. Diamondback) and copy/paste all error output.
Patrick Mihelich gravatar image Patrick Mihelich  ( 2011-09-23 10:58:05 -0500 )edit

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answered 2011-09-23 11:07:29 -0500

Patrick Mihelich gravatar image

"002" is not a recognized format for device_id. Examples are given in comments in the openni_node.launch file.

The easiest way to get up and running is to use device IDs "#1", "#2", etc., which opens the first/second enumerated Kinect. Another format, closer to what you're trying to do, is "2@3", which opens the device on USB bus 2, address 3. Enumeration order and USB address can both change when you unplug/replug a Kinect however.

To make your launch configuration repeatable, use the Kinect serial number as the device_id. The driver prints the serial number to console when you open the device, so you can collect these by opening with "#1" etc. It'll look something like "B00367707227042B".

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Thanks Patrick for the reply. Usually I use enumeration which is the easiest way. But now I need to make it fix for addressing. Btw, for '2@3', '2' is bus, and what is address '3' here? port? and this also can change if the device is plug/unplug?
kang gravatar image kang  ( 2011-09-25 19:16:37 -0500 )edit
When you connect a USB device, the host assigns it a unique 7-bit address. This address is basically arbitrary. To open multiple Kinects in a repeatable way, open them by serial number.
Patrick Mihelich gravatar image Patrick Mihelich  ( 2011-09-26 08:31:25 -0500 )edit

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Asked: 2011-09-22 21:04:14 -0500

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Last updated: Sep 23 '11