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Hi, same happens for me, not always at the same code position though. Seems to be a mean bug.

I have the same library version (the latest one from the PCL repository), running on 64-Bit Oneiric.

This is one example of what happens after setting the image mode to QVGA_30Hz:

[/camera_nodelet_manager] [DriverNodelet::setupDevice]: Opened 'Xbox NUI Camera' on bus 2:6 with serial number 'A00364912716111A'
[/camera_nodelet_manager] [DriverNodelet::onInitImpl]: rgb_frame_id = '/camera_rgb_optical_frame' 
[/camera_nodelet_manager] [DriverNodelet::onInitImpl]: depth_frame_id = '/camera_depth_optical_frame' 
[/camera_nodelet_manager] [CameraInfoManager::loadCalibrationFile]: Camera calibration file /usr/wiss/gossow/.ros/camera_info/rgb_A00364912716111A.yaml not found.
[/camera_nodelet_manager] [CameraInfoManager::loadCalibrationFile]: Camera calibration file /usr/wiss/gossow/.ros/camera_info/depth_A00364912716111A.yaml not found.
[/camera_nodelet_manager] [DriverNodelet::onInitImpl]: Using default parameters for RGB camera calibration.
[/camera_nodelet_manager] [DriverNodelet::onInitImpl]: Using default parameters for IR camera calibration.
[Thread 0x7fffd9240700 (LWP 18386) exited]
[New Thread 0x7fffcc4b8700 (LWP 18700)]
[/camera_nodelet_manager] [RegisterNodelet::imageCb]: TF exception:
Lookup would require extrapolation into the future.  Requested time 1325673040.928596409 but the latest data is at time 1325673040.926995553, when looking up transform from frame [/camera_depth_optical_frame] to frame [/camera_rgb_optical_frame]
*** glibc detected *** /work/ros/electric/stacks/nodelet_core/nodelet/bin/nodelet: free(): corrupted unsorted chunks: 0x00000000009867f0 ***

This is the backtrace:

#0  0x00007ffff60e53a5 in __GI_raise (sig=6)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007ffff60e8b0b in __GI_abort () at abort.c:92
#2  0x00007ffff611d113 in __libc_message (do_abort=2, 
    fmt=0x7ffff620e0d8 "*** glibc detected *** %s: %s: 0x%s ***\n")
    at ../sysdeps/unix/sysv/linux/libc_fatal.c:189
#3  0x00007ffff6127a96 in malloc_printerr (action=3, 
    str=0x7ffff620e2c8 "free(): corrupted unsorted chunks", 
    ptr=<optimized out>) at malloc.c:6283
#4  0x00007ffff612bd7c in __GI___libc_free (mem=<optimized out>)
    at malloc.c:3738
#5  0x00000000004069f9 in release (this=0x99a2e0)
    at /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145
#6  boost::detail::shared_count::~shared_count (this=<optimized out>, 
    __in_chrg=<optimized out>)
    at /usr/include/boost/smart_ptr/detail/shared_count.hpp:217
#7  0x00007fffd99962fe in ~shared_ptr (this=0x7fffcd4b9d60, 
    __in_chrg=<optimized out>)
    at /usr/include/boost/smart_ptr/shared_ptr.hpp:168
#8  openni_wrapper::OpenNIDevice::ImageDataThreadFunction (this=0x7fffe8358d50)
    at /tmp/buildd/ros-electric-openni-kinect-0.3.2/debian/ros-electric-openni-kinect/opt/ros/electric/stacks/openni_kinect/openni_camera/src/openni_device.cpp:505
---Type <return> to continue, or q <return> to quit---
#9  0x00007ffff5ea2ba9 in thread_proxy ()
   from /usr/lib/libboost_thread.so.1.46.1
#10 0x00007ffff6455efc in start_thread (arg=0x7fffcd4ba700)
    at pthread_create.c:304
#11 0x00007ffff619089d in clone ()
    at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#12 0x0000000000000000 in ?? ()