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Although unfortunately I have never used Asus Xtion checking the docs I think that you should open the device with CV_CAP_OPENNI and then you can set the CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE capture property to CV_CAP_OPENNI_QVGA_30HZ or CV_CAP_OPENNI_QVGA_60HZ.
Check this highgui user guide and especially the example code in the end.
