I just received an Xtion Pro Live. I would like to know if it supports:
1) rgb and depth image synchronization
2) rgb to depth onboard registration.
Which drivers do you recommend I use (in Linux)? I am currently using
the latest ros-electric-openni-kinect drivers. When I edit the
/etc/primesence/GlobalDefualts.ini file, I see the option
; Registration. 0 - Off (default), 1 - On
;Registration=1
If I set Registration=1, the openni driver fails with the following message:
[ INFO] [1314826403.885088888]: No matching device found.... waiting
for devices. Reason:
openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const
xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const
xn::NodeInfo&) @
/tmp/buildd/ros-electric-openni-kinect-0.3.0/debian/ros-electric-openni-kinect/opt/ros/electric/stacks/openni_kinect/openni_camera/src/openni_device.cpp
@ 61 : creating depth generator failed. Reason: Device Protocol: Bad
Parameter sent!
Thank you for your help,
Ivan Dryanovski
--
You received this message because you are subscribed to the Google Groups "OpenNI" group.
To post to this group, send email to openn...@googlegroups.com.
To unsubscribe from this group, send email to openni-dev+...@googlegroups.com.
For more options, visit this group at http://groups.google.com/group/openni-dev?hl=en.
Thanks for the reply.
> Both features are supported. In the OpenNI API, look for FrameSync (1st
> feature) and AlternativeViewPoint (2nd).
I am currently using the ROS driver - I will ask on the ROS mailing
list if these are handled properly by the driver.
> I don't recommend using the .ini
> file. You can either activate the features programmatically, or using the
> openni xml file (I've always done it programmatically, so I can't help you
> with the XML syntax, but it shouldn't be too hard).
Where is the openni xml file located? I can find several xml files,
including moduls.xml, Samle-Scene.xml, Sample-User.xml etc.
Ivan
--
I followed the dynamic reconfigure callback and found that it actually
does this when you seect registration:
depth_generator_.GetAlternativeViewPointCap ().SetViewPoint (image_generator_);
where depth_generator_ is a xn::DepthGenerator.
However, this does not really tell me whether the registration is done
in software or in hardware. When using the Kinect, this option was
also available, and it did in fact produce registered images. Since
the Kinect does not support hardware registration, I'm assuming that
the registration was done in software.
So again, the questions remain:
- does the xtion pro live support hardware registration
- if yes, how do I ensure (through config files or the openni api)
that registration is done in hardware, and not software.
> states that only the Primesense hardware supports framesync, so you're out
> of luck there (see part 6 in the above page for details)...
I'm not sure if that's up to date. I think that wiki is from before
the Live Pro came out.
I think I found the answer to the second question:
// RegistrationType should be 2 (software) for Kinect, 1 (hardware) for PS
SetIntProperty ("RegistrationType", 2);
--
You received this message because you are subscribed to the Google Groups "OpenNI" group.
To post to this group, send email to openn...@googlegroups.com.
To unsubscribe from this group, send email to openni-dev+unsubscribe@googlegroups.com.