Added Utility class to convert Swiss Ranger's PointCloud2 messages to PointCloud<PointXYZ> + images.
Re-indented swissranger_camera driver code to make it more readable.
Added synchronization between CameraInfo and Image messages. Added P and R matrices to CameraInfo messages. Corrected scale factor for confidence and intensity image values.
Corrected scale factor for swiss ranger's confidence and intensity image values.
Added floor constraint to checkerboards. Works with calibration_toolkit tag v0.2.