asus xtion pro live 1280x1024 resolution?

edit

Hi all,

Is there any way to set the rgb image resolution of the Asus Xtion Pro live to 1280x1024? According to the Xtion pro live specifications i'm sure that it supports the 1280x1024 resolution for rgb data, but when i want to change the quality of rgb data from QVGA(640x480) to SXGA(1280x1024), openni module gives me the following error:

"[ WARN] [1348568266.991212994]: Could not find any compatible image output mode for 1280 x 1024 @ 15. Falling back to default image output mode 640 x 480 @ 30"

Any suggestions? Thanks in advance.

EDIT: I have checked openni_camera and noticed that when openni_camera runs with a xtion pro live plugged in to the computer,the openni module uses "openni_device_primesense.cpp" in order to drive the device. So i have read it's code and these are my results: in method DevicePrimesense::enumAvailableModes different output modes for the device have been set except SXGA so i have added following codes to this method:

  //The only acceptable FPS for this mode is 30!
  output_mode.nFPS = 30;
  output_mode.nXRes = XN_SXGA_X_RES;
  output_mode.nYRes = XN_SXGA_Y_RES;
  available_image_modes_.push_back (output_mode);

And also in file nodelets/driver.cpp and in method "DriverNodelet::updateModeMaps" we should change line

output_mode.nFPS  = 15;

to

output_mode.nFPS  = 30;

now if you run openni_camera using "roslaunch openni_launch openni.launch" and reconfigure the RGB mode to SXGA you can see that it accepts new configs, now the problem is as soon as you listen to /camera/rgb/image_color the openni_camera crashes!!

So i think we can solve this problem by our own,if anyone is willing to help me out to solve this problem here is my email:

alireza.mixedreality@gmail.com

EDIT: I have contacted with one of the openni_camera developers, he have edited the code to specifically work with SXGA RGB image of ASUS Xtion Pro live, So Other image formats like VGA and QVGA will not work any more. You can see the filed issue in the openni_camera github here.

And here is the Changes to openni_camera needed for SXGA resolution with xtion.

Before testing the new code, i recommend you to install OpenNI-Bin-Dev-Linux-x64-v1.5.2.23 and Sensor-Bin-Linux-x64-v5.1.0.41.