Install Xtion2¶
- Homepage: https://www.asus.com/3D-Sensor/Xtion-2/
- SDK Download: https://www.asus.com/3D-Sensor/Xtion-2/HelpDesk_Download/
Spec¶
| Spec/Device | Xtion2 |
|---|---|
| Optimized Range | 0.8 - 3.5m |
| RGB Image Size | 5MP (2592x1944) |
| Depth Image Size | VGA (30FPS)
QVGA (30FPS)
|
| Field of View | 74° horiz
52° vert
90° diagonal
|
Install SDK && Try Sample¶
# Download SDK.zip from https://www.asus.com/3D-Sensor/Xtion-2/HelpDesk_Download/
cd ~/Downloads
tar xf ASUS-Linux-x64-OpenNI2.2.tar.gz
cd ASUS-Linux-x64-OpenNI2.2/
sudo apt-get install ros-$ROS_DISTRO-openni2-launch ros-$ROS_DISTRO-openni2-camera libopenni2-dev
sudo ./install.sh
# you need to copy libSenDuck.so by manual
sudo cp ASUS/Xtion2/lib/libSenDuck.so /usr/lib/OpenNI2/Drivers/
cd Samples/Bin
./SimpleViewer # This should open a viewer for depth image
Use Xtion2 camera with openni2_camera ROS package¶
cd ~/ros/$ROS_DISTRO/src
wstool set ros-drivers/openni2_camera https://github.com/ros-drivers/openni2_camera.git --git -v 0.2.8 -y -u
source /opt/ros/$ROS_DISTRO/setup.bash
catkin b
source ~/ros/$ROS_DISTRO/devel/setup.bash
roslaunch openni2_launch openni2.launch