PoC ASUS Xtion kernel driver

I wanted to have a low-overhead video4linux driver for use with the ASUS Xtion PRO LIVE structured light camera.

Requirements:

• An Xtion device with up-to-date firmware (has been tested with v5.8.22). Firmware update is available from ASUS support site.

Usage

After you load the driver, it creates two video devices for your camera (color and depth). You can use udev rules to name them sensibly:

<pre> # Rules for the xtion kernel driver SUBSYSTEM=="video4linux", ATTR{xtion_endpoint}=="depth", ATTRS{xtion_id}=="*", SYMLINK+="xtion_$attr{xtion_id}_depth" SUBSYSTEM=="video4linux", ATTR{xtion_endpoint}=="color", ATTRS{xtion_id}=="*", SYMLINK+="xtion_$attr{xtion_id}_color" </pre>

The color device can be used with almost any Linux application that uses the Video4Linux interface, e.g. most webcam apps. I recommend guvcview, since it allows you to play with the resolution/controls.

The depth device creates unsigned 16-bit depth images, which most webcam applications cannot display.

A ROS nodelet driver for use with this kernel driver is also available: xtion_grabber.

Known Issues

• The snd_usb_audio module might claim the USB interface first. If you see messages like xtion 1-4:1.0: xtion_probe: failed to claim interface 1 (-16)!, you might want to blacklist the snd_usb_audio module. For details, see issue https://github.com/xqms/xtion/issues/15.