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Getting Depth and RGB image with Xtion Pro Live using Openni_Camera/Openni_Launch

asked 2014-03-16 14:53:54 -0600

spsuardev gravatar image

updated 2016-10-24 08:36:25 -0600

ngrennan gravatar image

We are attempting to get a depth image and an RGB image from the Xtion Pro live. The problem I'm having is after subscribing to the camera/rgb/image_raw topic we can listen to RGB images but when we close the subscription and subscribe to the camera/depth/image_raw topic no images are being received. This also happens in the opposite order after subscribing to the camera/depth/image_raw topic we can listen to depth images but when we close the subscription and subscribe to camera/rgb/image_raw no images are being received. We assume the Xtion is getting stuck in a mode but we haven't figured out how to manually switch between RGB and depth mode. It might be worth noting we are running this on ARM (Odroid U2) using Ros Hydro.

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I am having the same problem using Odroid U3 Ros Hydro. Have you found a solution? We are trying to run RGBDSLAM on a separate workstation with the data coming from the Odroid.

rigeeeeel gravatar imagerigeeeeel ( 2014-05-26 14:05:57 -0600 )edit

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answered 2014-03-16 21:39:36 -0600

domikilo gravatar image

You can try with the openni2 from this link https://github.com/kalectro/openni2_c... I test it with my UDOO successfully, it maybe more effective than openni from the original ROS, however it doesnt support point cloud, you have to make it by yourseft

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answered 2016-05-02 11:40:41 -0600

I had the same problem with an ODROID-XU4. Streaming color + depth simultaneously at full 640x480 @ 30 Hz doesn't work on the USB 3.0 ports. Reducing resolution works, or alternatively switching to the USB 2.0 (!) port made it work for me. I didn't need to install kalectro's hack, it just worked with Indigo + openni2_camera.

Also see openni2_camera #33.

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Asked: 2014-03-16 14:53:54 -0600

Seen: 2,180 times

Last updated: May 02 '16