Todo List

Member ccny_rgbd::createRGBDFrameFromROSMessages (const ImageMsg::ConstPtr &rgb_msg, const ImageMsg::ConstPtr &depth_msg, const CameraInfoMsg::ConstPtr &info_msg, rgbdtools::RGBDFrame &frame)

assert that distortion (dist) is 0

Member ccny_rgbd::RGBDImageProc::loadCalibration ()

handle this with default ir2rgb

Member ccny_rgbd::VisualOdometry::publishOdom (const std_msgs::Header &header)

publish also as PoseWithCovariance