stereo image proc/Reviews/2009-08-18 Code Review

Package Developer:

Kurt

Examiner:

Present at code review:

Caroline, Jeremy, Patrick, James, Kurt

Issues

CameraInfo message

• Get rid of rectification and projection matrices, not relevant here
• Need utility to convert TF frame and camera matrix K into projection matrix P

Bundling image info and camera info

• Consensus seems to be to put image info into camera image message
• How to change calibration in a bag that already has a calibration?

StereoInfo message

• Needs rectification matrices
• How do we identify cameras? Frame id? Seems like a good idea, except for frame remapping.
• T,Om should be replaced by a transform

Notes from examiner

Examiner: Enter your notes on each section below. See ExaminerChecklist for more detailed instructions.

• Divide your concerns up into bullet lists that can be run through in order in the meeting, and concretely decided about. Include enough details / relevant information for people at meeting to quickly decide on the issue (e.g. file and line number, description of race condition, or list unclear names)

• Use error symbol to call out things that are clear errors

• Use warning symbol to call out things that you're worried about

• Use check mark to mark areas that look good.

• Use the below bullets as a basic guide, but feel free to add new issues or remove issues that are not relevant (e.g. command-line options for a library)
• Feel free to delete this instruction section when you're done

Documentation

• API
• ROS API
• command-line
• tutorials / examples

Naming

• headers
• libraries
• exported symbols
• ROS API

Source Code

• header files
• source files
• data / configuration / xml files

Manifest / Build System

• build
• dependencies
• manifest data

Testing

• all tests pass
• unit tests
• rostests

Conclusions

This section will be filled out during the group code review meeting, and will include

• Any action items that need to be taken before clearing

• Change in official package status

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