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Kinect vs. PSDK5.0 Registration Speed

asked 2011-04-30 17:34:15 -0500

fergs gravatar image

updated 2016-10-24 09:01:53 -0500

ngrennan gravatar image

I have 2 Kinects and a PSDK 5.0, I'm running Ubuntu 10.10 and the latest debian-based install of Diamondback. Both of the Kinects work fine with openni_camera (of the openni_kinect stack) generating either /camera/depth/points or /camera/rgb/points outputs at high speed. However, with my PSDK, I can only seem to get reliable depth point clouds. Issues are:

  • Only the VGA 30hz mode works for XYZRGB clouds, and at only about 8hz.
  • If I connect to /camera/rgb/image_color while viewing only the XYZ cloud I can get a 30hz update rate on the image and the XYZ cloud, so it doesn't appear to be an issue with USB bandwidth.
  • Turning on registration, even without a subscriber on /camera/rgb/points appears to significantly slow things down.

Any thoughts? This machine is a quad-core i7 with 8GB of RAM, and the registration runs fine on the Kinect devices...

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Have you tried the old NI stack or just standard OpenNI drivers? Perhaps the openni_kinect stack doesn't really support the PSDK5.0 so well or has a regression of some sort?
Eric Perko gravatar image Eric Perko  ( 2011-05-01 11:35:43 -0500 )edit
I haven't gone and tried the OpenNI directly -- that's next on my list. With the old NI stack, I had similar results (actually, it seemed less reliable than the current results).
fergs gravatar image fergs  ( 2011-05-01 16:16:18 -0500 )edit
Has this sorted itself out?
Mac gravatar image Mac  ( 2011-06-17 11:21:31 -0500 )edit

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answered 2011-09-02 12:08:45 -0500

fergs gravatar image

This seems to have been fixed in more recent versions of the driver.

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Asked: 2011-04-30 17:34:15 -0500

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Last updated: Sep 02 '11