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. 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. --- [Visit Topic](https://discourse.ros.org/t/data-quality-of-asus-xtion-2/4474/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: