verify this assert again
take this one also as an argument
Tighter bound than this minimal check
Replicating logic from polledCallback
If exception thrown due to bad settings, will fail to start camera
assert(stopped)
thread safety
Better trigger timestamp matching
Match time stamp from frame to ROS time?
Binning values retrieved here may differ from the ones used to actually capture the frame! Maybe need to clear queue when changing binning and/or stuff binning values into context?