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.
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