API review

Proposer: your name here

Present at review:

• Jeremy Leibs

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Jeremy

• Does the Prosilica use the Image Transport?

  • Patrick: Yes

• What should the default frame_id be?

  • According to convention set by the lasers, my guess would be camera.

  • Patrick: I guess.

• Are there other possible values for ~trigger_mode? If not, why use a string rather than a bool?

  • Blaise: Good question. A bool might be nicer.

  • Patrick: Currently no, but there could be. For example capture at a fixed rate, or external triggering.

  • What happens if you set it to an invalid string?

    • Patrick: Currently the node will warn and continue using the current mode. Could make that error.

  • Should Triggered and Continuous be capitalized or not? I would have done them all lower case, but I don't know if we have conventions about this yet.

    • Patrick: I'm fine with lowercase. I'm actually not certain about "triggered" and "continuous" though - "polled" and "freerun" might be more accurate.

• The API needs a logical description of the expected behavior of the request_image service and the polled mode topics.

  • Blaise: a link to the polled camera package might help answer these. I don't believe that the polled camera package currently says when the publishers are destroyed.

  • Patrick: Yes these should be answered in the polled_camera documentation.

  • Are these latched?

    • Patrick: Yes

  • Are they ever destroyed?

    • Patrick: Yes, when the number of subscribers to that image topic drops to zero.

  • Can multiple people request polled topics?

    • Patrick: Yes

  • Can it fail?

    • Patrick: Yes, if the camera times out or throws some serious error.

  • How do you specify region of interest if you don't know the camera Height/Width?

    • Patrick: The only real use cases we've had for ROI is when you're tracking some object and confine the ROI to a window around that object for better frame rate & processing speed. In that case your first request is the full image, and after that you know the height/width from the CameraInfo message.

  • What happens if you make a call to request_image while the camera is in continuous mode?

    • Patrick: request_image is only advertised while in triggered mode, but if you manage to accomplish this somehow the service call will issue and error and return false.

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

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