Present at review:
- List reviewers
Question / concerns / comments
stereo_msgs/DisparityImage should be revamped to:
Reuse existing messages (e.g. sensor_msgs/Image) instead of replicating their fields.
Not duplicate geometry parameters that should be pulled from sensor_msgs/CameraInfo.
- Use more descriptive names.
# This message contains an uncompressed disparity (16-bit) image # (0, 0) is at top-left corner of image # Header header # Header timestamp should be acquisition time of image # Header frame_id should be optical frame of camera # origin of frame should be optical center of cameara # +x should point to the right in the image # +y should point down in the image # +z should point into to plane of the image # If the frame_id here and the frame_id of the CameraInfo # message associated with the image conflict # the behavior is undefined uint32 height # image height, that is, number of rows uint32 width # image width, that is, number of columns # specifics for disparity # stereo geometry # focal length, lens center, horizontal baseline float32 f # in pixels float32 cx # in pixels float32 cy # in pixels float32 Tx # in meters # dpp is the interpolation factor, e.g., dpp=16 means each disparity increment # is 1/16 of a pixel uint32 dpp # maximum search range for disparities, in pixels uint32 num_disp # subwindow of valid stereo values uint32 im_Dtop uint32 im_Dleft uint32 im_Dwidth uint32 im_Dheight # The legal values for encoding are in file src/image_encodings.cpp # Should be 16bit monochrome string encoding # Encoding of pixels -- channel meaning, ordering, size # taken from the list of strings in src/image_encodings.cpp uint8 is_bigendian # is this data bigendian? uint32 step # Full row length in bytes uint8 data # actual matrix data, size is (step * rows)
Proposed new DisparityImage:
# Uncompressed 16-bit integer disparity image. Divide values by # increments_per_pixel to get disparities in pixel units. sensor_msgs/Image image # Subwindow of valid stereo values. sensor_msgs/RegionOfInterest valid_window # Interpolation factor, e.g. increments_per_pixel=16 means each # disparity increment is 1/16 of a pixel. uint32 increments_per_pixel # Maximum search range for disparities, in pixels. uint32 search_range
New proposal 11/23, just use floats instead of fixed point special-casing:
# Floating point disparity image. sensor_msgs/Image image # Subwindow of valid stereo values. sensor_msgs/RegionOfInterest valid_window # Maximum search range for disparities, in pixels. uint32 search_range
Proposal 12/4: Explicitly state 3D volume covered by the search range (the horopter), computable from search_range AND min_disparity (may be non-zero). Add back in smallest allowed disparity increment, useful for computing depth range resolution.
# Floating point disparity image. sensor_msgs/Image image # Subwindow of valid stereo values. sensor_msgs/RegionOfInterest valid_window # The horopter, or 3D volume covered by the disparity search. Points with Z less than min_depth or greater than max_depth could not be found. float64 min_depth float64 max_depth # Smallest allowed disparity increment. The smallest achievable depth range resolution is delta_Z = (Z^2/fT)*delta_d. float64 delta_d
To be filled out by proposer based on comments gathered during API review period
Package status change mark change manifest)
Action items that need to be taken.
Major issues that need to be resolved