# Data quality of ASUS Xtion 2

**URL:** <https://discourse.openrobotics.org/t/data-quality-of-asus-xtion-2/4474>\
**Category:** ROS General\
**Created:** [April 16, 2018, 8:31am UTC](https://discourse.openrobotics.org/t/data-quality-of-asus-xtion-2/4474 "2018-04-16T08:31:09Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Martin\_Guenther](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/martin_guenther/32/91_2.png) [@Martin\_Guenther](https://discourse.openrobotics.org/u/Martin_Guenther)\
**Post date:** [April 16, 2018, 8:31am UTC](https://discourse.openrobotics.org/t/data-quality-of-asus-xtion-2/4474/1 "2018-04-16T08:31:09Z")

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Does anyone have experience with the ASUS Xtion 2? Is the depth quality still comparable with the original ASUS Xtion? There’s an [old thread](http://discourse.ros.org/t/new-depth-sensor-asus-xtion-2/1817) that asked the same question, but got no replies.

I’ve seen that JSK has an [installation page](http://jsk-recognition.readthedocs.io/en/latest/install_xtion2.html), so perhaps one of you guys can help me out? @knorth55 @wkentaro @k-okada

What would be really great would be a rosbag, ideally just a freehand camera pointing at a table with some objects and moving around a bit.

Cheers,  
Martin

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**Author:** ![Mizux](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mizux/32/1451_2.png) [@Mizux](https://discourse.openrobotics.org/u/Mizux)\
**Post date:** [April 17, 2018, 9:26am UTC](https://discourse.openrobotics.org/t/data-quality-of-asus-xtion-2/4474/2 "2018-04-17T09:26:33Z")

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my 2 cents,  
Hope to not say something wrong since I test three differents prototypes of Asus XTION 2 last year.

While Xtion was just a kinect/primesens (structured light) camera built by ASUS (i.e. they bought the IP and a “Calibration machine” to recompute the disparity lookup since dimension was not exactly the same than the Kinect/Primesens).

On the other hand, XTION 2 is a ToF camera so it’s not really comparable (pro & cons), if I remember well XTION 2 seems close to old softkinetics ToF cameras DS400 DS325 etc…

note: Asus also had a “RealSense” camera (first generation, "un"structured light) as “prototype”, but it seems Intel has decided to discontinue it and the new RealSense has been developped by an other israel company with a completely different technology (ToF)

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**Author:** ![knorth55](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/knorth55/32/1459_2.png) [@knorth55](https://discourse.openrobotics.org/u/knorth55)\
**Post date:** [April 18, 2018, 9:05am UTC](https://discourse.openrobotics.org/t/data-quality-of-asus-xtion-2/4474/3 "2018-04-18T09:05:28Z")

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Hi, all. Sorry for late reply.  
Xtion2 is ToF IR camera, same as DS325, DS525 and Kinect V2.  
There are a lot of differences, so please compare it with other RGB-D cameras.  
I upload rosbag of compressed RGB and depth image of xtion2 here, so you can take a look on it. [https://drive.google.com/drive/folders/1IQY6ER0XBxudrhXhOLuBN7Qe3oGPe0L2?usp=sharing](https://drive.google.com/drive/folders/1IQY6ER0XBxudrhXhOLuBN7Qe3oGPe0L2?usp=sharing).

One weird point is that the images are mirrored in left and right direction.  
Actually, this problem is not ROS openni2 problem, but Xtion2 SDK problem.

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**Author:** ![Martin\_Guenther](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/martin_guenther/32/91_2.png) [@Martin\_Guenther](https://discourse.openrobotics.org/u/Martin_Guenther)\
**Post date:** [April 24, 2018, 1:01pm UTC](https://discourse.openrobotics.org/t/data-quality-of-asus-xtion-2/4474/4 "2018-04-24T13:01:48Z")

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Hi @knorth55, thank you so much for your data. That has been very useful.