ASUS Xtion PRO LIVE Driver

The ASUS Xtion PRO LIVE is a 3D camera that uses an infrared pattern projector and an infrared camera to infer distances from that captured pattern. It comes with a color web cam and has a detection range of approx. 0.8m to 3.5m.

Installation

A publicly available driver for the ASUS Xtion is provided by the industry consortium OpenNI consisting of PrimeSense among others, who manufacture the underlying hardware of Kinect and ASUS Xtion. This consortium offers an open source middleware for ”Natural Interaction” devices, including support for the Kinect and the ASUS Xtion.

Install the driver via:

$ sudo apt-get install openni-dev

If you are planning to use ROS you can also install its according wrapper:

$ sudo apt-get install ros-electric-openni-kinect

Usage

Plug the USB cable of the ASUS Xtion and then start it with:

$ roslaunch openni_camera openni_node.launch
$ rosrun rviz rviz

In the “Displays” navigation list of the rviz GUI change the Fixed Frame to “/openni_camera” and add a PointCloud2 display type. A new entry called “Point Cloud2”will appear. Unfold it and go to the item “Topic”. Then select the /camera/depth/points or the /camera/rgb/points topic. The latter one will show a point cloud with attached color information.

Support

• get help
• mail to users@youbot-community.org (or click here to subscribe)

Further information on the driver can be found here:

• http://openni.org/
• http://www.ros.org/wiki/openni_kinect