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openni2-camera-lcm

Openni2 Camera LCM driver

::

openni2-camera-lcm -j -z -c OPENNI_FRAME

This driver is a direct conversion of the ROS driver, except publishing LCM data. It should be used for all Primesense/Asus Xtion camera, with USB3.0. Snapshot for ROS driver used: 2dc246feb39f13a8e7f8b362dc1c5478abae668d

For Kinect and older Asus cameras and USB2.0 devices use kinect-openni-lcm found in kinect-lcm pod.

This driver outputs bot_core::images_t messages which are also output by stereo cameras e.g. multisense but is not dependent on libbot

Dependencies:

Apt install:

  • libopenni2-dev

Install from source:

  • lcm

TODO:

  • Support rate limiting
  • Check the time synchronization of the rgb vrs depth (this may need fixing)
  • Support different types of data e.g. 60Hz