> Yes, I basically took the glview code and added a PointCloud2
> publisher that publishes at the end of the depthimg(uint16_t *buf, int
> width, int height) callback. I think Hector Martin is also working on
> further optimizing the USB code and the whole driver. I think it's the
> only publicly available driver, isn't it?


I believe so. I've been poking around the code and the forums, and I
have some questions. Maybe you have some insight:

1. Is the depth image really 640x480, or is that oversampled? The
wikipedia page states the depth sensor has an resolution of 320×240
pixels. If it's oversampled, where does that take place - in the
driver, or the device itself? I prefer not inflating the point cloud
with oversampled data

2. What is the relationship between the values in the depth_frame and
the distance in meters? It doesn't appear to be linear

3. I read somewhere the device's range can be set dynamically. I'm
guessing one of the inits in inits.c could be responsible for the
range.