On Wed, 2010-09-22 at 16:12 -0700, Patrick Mihelich wrote:
> On Wed, Sep 22, 2010 at 5:06 AM, Paul Furgale
> <paul.furgale@utoronto.ca> wrote:
>         Is it possible to get the same effect by sending a CameraInfo
>         message only
>         when calibration parameters change? 
> 
> This would be a major design change to the image_pipeline. Sending a
> CameraInfo on change only introduces a synchronization problem; how
> does the subscriber synch the new parameters with the correct image?
> Since CameraInfo is lightweight compared to Image, we decided to just
> pay the (low) cost of sending it every time.

My preference is to keep the current system or continue to support it as
it provides a path for autofocus calibration support.

> 
> Nodelets for:
>  * Color processing: image_raw -> image, image_color
>  * Rectification: image -> image_rect
>  * Stereo correlation: left/image_rect, right/image_rect -> disparity
> * Point cloud: disparity -> points, points2

Are you planning on supporting color correction?
Can you let us know when the code is working enough to start porting
camera drivers?