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Can we access ASUS Xtion PRO Live simultaneously as a depth cam and webcam

asked 2015-07-29 00:09:54 -0500

robobee gravatar image

I am using the AUS Xtion PRO Live sensor for my robot. I have used openni_ros for accessing the depth data of sensor in ros. Then I configured the Xtion PRO Live as a normal webcam using the module in this link https://github.com/xqms/xtion Then I accessed the ASUS sensor just like a normal webcam through webcam applications in ubuntu. But then i couldn't access it using the Openni_ros. The problem is I need to process the depth data onboard the robot computer and send the normal RGB video using webrtc at the same time. Is there a way to do so.

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Perhaps I am missing something, but you can subscribe to the raw rgb topic and then send it as you wish. Is this not OK?

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-07-29 01:38:14 -0500 )edit

Use openni2_camera to open the rgb & distance streams, then write a ros node(let) using cv_bridge as a gateway from ros video stream to your webrtc target.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2015-07-29 02:11:51 -0500 )edit

what about using webrtc_ros specfied at https://github.com/mitchellwills/webr...

robobee gravatar image robobee  ( 2015-07-30 23:35:48 -0500 )edit

that should do it.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2015-07-31 01:26:42 -0500 )edit

That only works like web_video_server. Is there a way by which we can make webrtc client to access the video stream from web_video_server instead of accessng video device like webcam.

robobee gravatar image robobee  ( 2015-07-31 02:14:16 -0500 )edit

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answered 2015-08-07 07:20:53 -0500

robobee gravatar image

We can use the v4l2loopback https://github.com/umlaeute/v4l2loopback and create a virtual video device then we can use the ros_virtual_cam https://github.com/mayfieldrobotics/r... to publish the image topics from openni to that virtual device and can be used like a webcam

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Asked: 2015-07-29 00:09:54 -0500

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Last updated: Aug 07 '15