Todo List

Member __stdcall

Get rid of all exception-specifications, these are useless and soon to be deprecated

Namespace openni_camera

Flesh this out and move it to image_pipeline

ROI (crop) params and logic

Get rid of this nodelet, use version in unstable image_proc instead

Member openni_camera::CropDecimateNodelet::decimation_x

dynamic_reconfigure

Member openni_camera::CropDecimateNodelet::imageCb (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)

Figure out if 2x1, 3x2 etc. binning of bayer images makes sense

Support non-bayer images, duh...

Check image dimensions match info_msg

Member openni_camera::DisparityNodelet::depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)

Support float (metric) depth images also?

Get baseline from CameraInfo instead of hardcoding

Get these values from somewhere... parameters?

Check for no sample value and shadow value once they are non-zero

Member openni_camera::MetricDepthNodelet::depthCb (const sensor_msgs::ImageConstPtr &raw_msg)

Check for no sample value and shadow value once they are non-zero

Member openni_camera::OpenNINodelet::configCb (Config &config, uint32_t level)

Run connectCb if registration setting changes

Member openni_camera::OpenNINodelet::getDepthCameraInfo (ros::Time time) const

Could put this in projector frame so as to encode the baseline in P[3]

Member openni_camera::OpenNINodelet::getRgbCameraInfo (ros::Time time) const

Use binning/ROI properly in publishing camera infos

Member openni_camera::OpenNINodelet::image_width_

Prefer binning to changing width/height

Member openni_camera::OpenNINodelet::mapXnMode2ConfigMode (const XnMapOutputMode &output_mode) const

Consolidate all the mode stuff, maybe even in different class/header

Member openni_camera::OpenNINodelet::onInit ()

Could go back to NodeHandle scoping of "rgb", "ir", etc

Make it ir instead?

Member openni_camera::OpenNINodelet::publishDepthImageRaw (const openni_wrapper::DepthImage &depth, ros::Time time, const std::string &frame_id, const image_transport::Publisher &pub) const

Get rid of depth_height_, depth_width_

Member openni_camera::OpenNINodelet::publishRgbImageRaw (const openni_wrapper::Image &image, ros::Time time) const

image_width_, image_height_ may be wrong here if downsampling is on?

Need an official encoding for this

Class openni_camera::PointCloudXyzNodelet

Consider dropping mask indices when full (multiple!) ROI, decimation support in driver

Member openni_camera::PointCloudXyzNodelet::depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)

Support float (metric) depth images also?

Check for no sample value and shadow value once they are non-zero

Check for no sample value and shadow value once they are non-zero

Member openni_camera::PointCloudXyzrgbNodelet::imageCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &rgb_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)

Check for no sample value and shadow value once they are non-zero

Check for no sample value and shadow value once they are non-zero

Member openni_camera::PointCloudXyzrgbNodelet::onInit ()

queue_size param

Member openni_camera::RectifyNodelet::onInit ()

dynamic_reconfigure for interpolation

Member openni_camera::RegisterNodelet::imageCb (const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg, const sensor_msgs::CameraInfoConstPtr &rgb_info_msg)

Parameter for expected frame rate

Can take on order of a minute to register a disconnect callback when we don't call publish() in this cb. What's going on roscpp?

When RGB is higher res, interpolate by rasterizing depth triangles onto the registered image

Check for no sample value and shadow value once they are non-zero

Member openni_camera::RegisterNodelet::onInit ()

queue_size param

Class openni_camera::RGBValue

Consider dropping mask indices when full (multiple!) ROI, decimation support in driver

Member openni_wrapper::DepthImage::fillDepthImage (unsigned width, unsigned height, float *depth_buffer, unsigned line_step=0) const

Different values for these cases

Member openni_wrapper::DepthImage::fillDepthImageRaw (unsigned width, unsigned height, short *depth_buffer, unsigned line_step=0) const

Different values for these cases

Member openni_wrapper::OpenNIDevice::getDefaultIRMode () const

Something else here?

Member openni_wrapper::OpenNIDevice::hasIRStream () const

Do actual check