[Rock-dev] Image processing classes

[Alexander Duda]

On Fri, 2011-07-29 at 11:28 +0200, Jakob Schwendner wrote:
> Hi,
> 
> I would like to start a discussion on the image processing related code.
> 
> Currently I see a tendency of stuff moving into frame_helper and that 
> most image_processing classes depend on it. How about we actually make 
> frame_helper a base class for image processing and pull all 
> image_processing related stuff out of base. I would vote for calling the 
> library image_processing-base and put it into image_processing/base.

What do mean with "and pull image_processing related stuff out of base"?
The only image_related stuff which is in base is the base type frame. Or
do I miss something?

> Secondly I wanted an opinion on some issues relating the base frame type.
> - Janosch suggested that the name is slightly misleading if we move 
> stuff around we could rename it to something more useful
> - I've got a type which represents distance images. The only difference 
> to the frame type is that it handles float images. What do you think 
> about extending frame to also handle float types?

Sounds reasonable. 

> - lastly, in that distance image, I encode the parameters for the 
> pinhole model (essentially what is left over from the camera matrix), so 
> x,y center and scaling. I think this would also be very useful to the 
> frame class.

For this you could use the method setAttribute which is already
implemented.

> Some other things I see relevant before the release of rock:
> - rename experimental_image_processor
> - hmmm. well, ok, there seems only this as relevant.
> 
> Suggestions (but not as relevant for a release):
> - bundle stereo related processing into a single library (e.g. combine 
> dense_stereo and the sparse stuff that is currently around)
> 
> I wouldn't want to do the changes all by myself, so let me know if you 
> are willing to spend a little bit of time to improve the structure of 
> image processing related code in rock.

+1

Alex

-- 
Dipl.-Ing. Alexander Duda 
Unterwasserrobotik

DFKI Bremen
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