Todo List

Member xiaoqiang_freenect_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 Freenect registration setting

Member xiaoqiang_freenect_camera::DriverNodelet::getDepthCameraInfo (const ImageBuffer &image, ros::Time time) const

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

Member xiaoqiang_freenect_camera::DriverNodelet::getRgbCameraInfo (const ImageBuffer &image, ros::Time time) const

Use binning/ROI properly in publishing camera infos

Member xiaoqiang_freenect_camera::DriverNodelet::mapMode2ConfigMode (const OutputMode &output_mode) const

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

Member xiaoqiang_freenect_camera::DriverNodelet::onInitImpl ()

Make it ir instead?

Member xiaoqiang_freenect_camera::DriverNodelet::~DriverNodelet ()

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