Student Post: ROS and Asus Xtion Pro Live


This week I will exploring using the Asus Xtion Pro Live within the ROS environment. We have acquired a desktop machine for the Ars Geometrica Lab in ISAT that we have install Linux Mint on to use with ROS.

A little bit about ROS. Robot Operating System (ROS) is a collection of software frameworks for robot software development and within this collection of software frameworks, they have an OpenNI Camera driver for depth and RGB camera. These include the Microsoft Kinect, ASUS Xtion Pro and Pro Live. The driver publishes raw depth, RGB, and IR image streams within ROS. This used in combination with the OpenNI Launch driver allows ROS to convert these streams into depth images, disparity images, and registered point clouds which is exactly what we are looking for.

The next steps are being able to visualize our 3D printed objects through the OpenNI drivers in ROS and think about a pipeline that we could construct. Ideally, taking these point clouds from ROS and using a comparison test between ideal and error images would be the first step in the process.


Adam Slattum




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