sniekum/ar_track_alvar — pull request #6 by corot (2013-04-20 03:04:51+00:00)
Title: Implement dynamic reconfigure (just for individual markers)

The enable/disable switch subscribes/unsubscribes to pointcloud topic, what at the same time stops the (also very CPU-hungry) depth image to pointcloud nodelet. When not subscribed, the lazy publishing of the pointcloud makes a huge saving on CPU.