Rosanswers logo

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...

Originally posted by fergs on ROS Answers with karma: 13902 on 2011-04-30

Post score: 1

Original comments

Comment by Mac on 2011-06-17:
Has this sorted itself out?

Comment by fergs on 2011-05-01:
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).

Comment by Eric Perko on 2011-05-01:
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?


1 Answer 1


Rosanswers logo

This seems to have been fixed in more recent versions of the driver.

Originally posted by fergs with karma: 13902 on 2011-09-02

This answer was ACCEPTED on the original site

Post score: 0


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.