[Rock-dev] Image processing classes

[Jakob Schwendner]

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.

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?
- 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.

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.

cheers,

Jakob

-- 
Jakob Schwendner, M.Sc.
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 17845-4120
Fax:   +49 (0)421 17845-4150
E-Mail: jakob.schwendner at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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