NOTE: for discussion, please use ros-developers list<br><br>The REP, in text and slightly-more-readable html format, is attached.<br><br>Also note that time to discuss this REP is unfortunately rather tight. Since sensor_msgs/CameraInfo lives in the common_msgs stack, changes to the message definition must be finalized by Oct 22, only one week from today. We can quibble over related issues such as image_geometry API changes after that point, but I want to reach a consensus on the overall design and specific message changes as quickly as possible. If you have a stake in CameraInfo, please take a look as soon as you can.<br>
<br>Cheers,<br>Patrick<br><br>Abstract<br>========<br><br>This REP adds support for binning and alternative distortion models to<br>sensors_msgs/CameraInfo.  It clarifies the correct interpretation of<br>region of interest (ROI), including how it interacts with binning and<br>
distortion.<br><br>In this REP, sensor_msgs/CameraInfo acquires binning_x and binning_y<br>fields.  The distortion parameter array D is made variable-length, its<br>meaning specified by an enum.  This REP clarifies ROI to mean the raw<br>
image region as captured by the camera and introduces a distinction<br>between raw ROI and rectified ROI.  It adds appropriate new methods to<br>the camera model classes in image_geometry, the recommended API for<br>using CameraInfo.<br>