Asus Xtion

[Gabriel]

Hi!

I just got an Asus Xtion Pro today, and tried running my application
(which ran on Kinect until now), resulting in the images being
rendered at 320x240. I tried changing the xml file with the line
<MapOutputMode xRes="640" yRes="480" FPS="30"/> but I get an error
saying "The device depth and image resolution must be equal!". Any
ideas?

Also, is it possible to use 640x480 at 60Hz? How?

Thanks,

[Gabriel]

Also, colors look pretty desaturated, is this normal?

[Bernie]

Hi, Gabriel,

Here is some experiments that I did.

I tried under these 3 configurations in the OpenNI configuration XML
file, and the NiSimpleViewer sample worked fine.

a) Depth: VGA @ 30 FPS and RGB: VGA @ 30 FPS
b) Depth: QVGA @ 30 FPS and RGB: QVGA @ 30 FPS
c) Depth: QVGA @ 60 FPS and RGB: QVGA @ 60 FPS

How it looked like in the xml.

<Node type="Depth" name="Depth1">
<Configuration>
<Mirror on="true"/>
<MapOutputMode xRes="640" yRes="480" FPS="60"/>
</Configuration>
</Node>
<Node type="Image" name="Image1" stopOnError="false">
<Configuration>
<Mirror on="true"/>
<MapOutputMode xRes="640" yRes="480" FPS="60"/>
</Configuration>
</Node>


However, under these configurations, the NiSimpleViewer sample
complained about different errors.

a) Depth: VGA @ 60 FPS and RGB: VGA @ 60 FPS
b) Depth: VGA @ 60 FPS and RGB: VGA @ 30 FPS
c) Depth: VGA @ 30 FPS and RGB: VGA @ 60 FPS
d) Depth: VGA @ 30 FPS and RGB: QVGA @ 30 FPS
e) Depth: QVGA @ 30 FPS and RGB: VGA @ 30 FPS

a), b) and c) resulted in an error: “Open failed: The value is
invalid!”
d) and e) resulted in an error: “The device depth and image resolution
must be equal!“


In summary, to answer your questions based on the experiement results:

1) Make sure you have the configuration correct for both depth and
RGB streams (in the same resolution and appropriate FPS). The error
should go away.
2) Depth and RGB can only support VGA @ 30FPS at maximum.

Hope this helps.


Bernie

[Bernie]

Hi, Gabriel,

Sorry, I would like to make some corrections on my information below.

Theoretically, the SDK supports both depth and RGB streams in
different solutions. I just found out that it was an application
constraint that the NiSimpleViewer sample had to simply display the
streams on screen.

Could you check in your application if you have a similar conditional
check like below?

// Hybrid mode isn't supported in this sample
if (g_imageMD.FullXRes() != g_depthMD.FullXRes() ||
g_imageMD.FullYRes() != g_depthMD.FullYRes())
{
printf ("The device depth and image resolution must be equal!\n");
return 1;
}

Thanks.

Bernie

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[Gabriel]

You're right indeed, I tried commenting out that section and it
worked. Thanks.

Now regarding the wrong colors, is there a way to fix this? It looks
like a problem of the camera autoadjusting feature not working
properly... is this configurable?

[Gabriel]

Two pictures for you to get the difference. The first one was taken
with Kinects RGB Camera.
<a href="http://tinypic.com?ref=2pzivie" target="_blank"><img
src="http://i41.tinypic.com/2pzivie.jpg" border="0" alt="Image and
video hosting by TinyPic"></a>

And this was taken with ASUS' RGB Camera.
<a href="http://tinypic.com?ref=sgn1pl" target="_blank"><img
src="http://i40.tinypic.com/sgn1pl.jpg" border="0" alt="Image and
video hosting by TinyPic"></a>

This was taken on the same environment, with the same lighting
conditions. The pink glove is the same for both pictures.

Since my program is heavily color based, this is a real problem for
me...

[Gabriel]

Ok, I messed up with the pics, just click the link :)

[Bernie]

Hi, Gabriel,

Thanks for snap shots. As far as I know, unfortunately currently there
is no CMOS control API (gain, exposure, ...) available in the SDK. You
might need to come up wih an workaround or wait until such APIs are
available.

Bernie

> > > > > - Show quoted text -- Hide quoted text -

[Gabriel]

That's ok. Thanks.