API review

Proposer: Patrick

Present at review:

• Jeremy
• James
• Tully
• Caroline
• Josh

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

• Radu: no more IplImage! Yey!

• Radu: should we make toRos () similar to PCL's toROSMsg ()? Which ones should we rename to what?
• JL:
  • Looks like a dramatic improvement over the existing Bridge
  • I'm very much in support of the custom serializer/deserializer approach.

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

• General API design - thumbs up/down
• Efficiency and memory allocations
• Function naming and consistency with PCL
• Support Bayer encodings in cv_bridge?
• Timeline for integrating with image_transport
• Put encoding categorization functions in sensor_msgs?

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

• toCvShare can actually copy data - is that confusing?
  • Should be documented clearly

• toCvShare could have overload taking arbitrary shared_ptr to share with DisparityImage message

• Converter from PointCloud2 to cv::Mat?? (Caroline)

• Bayer

  • Make pass-through work with bayer encodings ("bayer_rggb8" -> CV_8UC1)

  • Don't support actually converting to/from bayer

• Allow registering new encoding->encoding transforms? (Jeremy)

• toRos() -> toImageMsg()

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