Todo List

Member kinect_camera::KinectDriver::configCb (Config &config, uint32_t level)

Integrate init() in here, so can change device and not worry about first config call

Mucking with image_ here might not be thread-safe

Member kinect_camera::KinectDriver::KinectDriver (ros::NodeHandle comm_nh, ros::NodeHandle param_nh)

"u" and "v" channels?

THIS IS WRONG!!!! But might be assumed by PCL.

Distinguish calibrated/uncalibrated Kinects

Investigate how well synchronized the depth & color images are

Check this on loading info instead

Publish original 16-bit output? Shifting down to 8-bit for convenience for now

Publish rectified RGB image

Implement Z-buffering in RGB space for the depth point clouds

Possible optimization: lookup table mapping shift to depth. Then skip

Get rid of cross-hatching in texture - probably from points that get

Member kinect_camera::KinectDriver::publish (): Do something with the real timestamps from the device

Member kinect_camera::KinectDriver::rgb_image_: Get rid of member messages since we allocate a shared_ptr each time

Member kinect_camera::KinectDriver::start (): Replace explicit stop/start with subscriber callbacks

Member kinect_camera::KinectDriverNodelet::onInit (): What exactly goes on with the threading here? -PM