Phil Osteen

> I saw that the header frame_id for topic /nerian/right/camera_info was nerian_left. Is it the parent frame? This is by convention for stereo cameras, as described [here](http://wiki.ros.org/image_pipeline/FrameConventions). The `P` matrix...

@SvenMuc Could you see if the PLY formatted clouds align with either of the projections you have produced here? The `bin` files were derived from the `ply` files, which were...

I can confirm there are problems with installing on a Mac, I have tested with the latest clang (which [supports OpenMP](http://blog.llvm.org/2015/05/openmp-support_22.html)) and gcc (installed with brew without-multilib) but did not...

I second this question. Not to hijack, but I also cannot find any mention of "WinRecall.m", which is used in `main.cpp`. It seems related to the issue of setting up...

> The new logic does not seem to share data collected in one step (e.g. left) with other ones (right and stereo), though. Have you considered adding this? I think...

@JWhitleyAStuff Rebased. I had to resolve some conflicts and haven't had a chance to test again, but I think it's ready to go.

We tested the improved clearing algorithm on a multi-sensor robot. Found a few problems, but now I think it is ready for a renewed look for inclusion into the core...

@JWhitleyWork Yes this would still be useful to merge. I will update the PR, re-test and let you know when it's ready