Todo List

Member __stdcall

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

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

Run connectCb if registration setting changes

Member openni_camera::DriverNodelet::depthConnectCb ()

pub_projector_info_? Probably also subscribed to a depth image if you need it

Warn if requested topics don't agree with OpenNI registration setting

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

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

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

Use binning/ROI properly in publishing camera infos

Member openni_camera::DriverNodelet::image_width_

Prefer binning to changing width/height

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

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

Member openni_camera::DriverNodelet::onInitImpl ()

Make it ir instead?

Member openni_camera::DriverNodelet::publishDepthImage (const openni_wrapper::DepthImage &depth, ros::Time time) const

Get rid of depth_height_, depth_width_

Member openni_camera::DriverNodelet::publishRgbImage (const openni_wrapper::Image &image, ros::Time time) const

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

Member openni_camera::DriverNodelet::watchDog (const ros::TimerEvent &event)

Also watch IR

Member openni_camera::DriverNodelet::~DriverNodelet ()

Test watchdog timer for race conditions. May need to use a separate callback queue controlled by the driver nodelet.

Member openni_camera::OpenNINodelet::publishDisparity (const openni_wrapper::DepthImage &depth, ros::Time time) const

Compute these values from DepthGenerator::GetDeviceMaxDepth() and the like

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, unsigned short *depth_buffer, unsigned line_step=0) const

Different values for these cases

Member openni_wrapper::OpenNIDevice::getDefaultIRMode () const

Something else here?