Kinect vs. PSDK5.0 Registration Speed
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...
Comments
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
(
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
(
2011-05-01 16:16:18 -0500
)edit
Has this sorted itself out?
Mac
(
2011-06-17 11:21:31 -0500
)editadd a comment
