So, our team is using the Freenect library to interface with the Kinect, which will be mounted on the robot as a vision device. I spotted these lines in the library code in cameras.c:
Code:
freenect_frame_mode supported_video_modes[video_mode_count] = {
// reserved, resolution, format, bytes, width, height, data_bits_per_pixel, padding_bits_per_pixel, framerate, is_valid
[...]
{MAKE_RESERVED(FREENECT_RESOLUTION_HIGH, FREENECT_VIDEO_IR_8BIT), FREENECT_RESOLUTION_HIGH, {FREENECT_VIDEO_IR_8BIT}, 1280*1024, 1280, 1024, 8, 0, 10, 1 },
[...]
What this appears to be is an IR video mode (there's corresponding RGB, Bayer, etc. modes) with resolution 1280x1024, which is higher than I've ever heard for the Kinect.
Is this video mode usable? Is it that the Kinect's camera is capable of this, but the low framerate constrains its use, and thus the Kinect's resolution is given as a lower number by most sources?
It's not easy dealing with the reality that others aren't as passionate as we are and that the process may be slower than we want it to be - but it gives me plenty of time to think and prepare. - JaneYoung [more] 
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