From c7ef4e8ca72c41ab3ede3bf118d11d2e076fa066 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Thu, 8 Feb 2024 11:22:26 -0500
Subject: [PATCH] finish

---
 stereo_image_proc/doc/configuration.rst |    6 +-
 stereo_image_proc/doc/index.rst         |   17 +-
 stereo_image_proc/doc/stereo_frames.svg | 1052 -----------------------
 3 files changed, 13 insertions(+), 1062 deletions(-)
 delete mode 100644 stereo_image_proc/doc/stereo_frames.svg

diff --git a/stereo_image_proc/doc/configuration.rst b/stereo_image_proc/doc/configuration.rst
index d918d47c9..c5d5710e7 100644
--- a/stereo_image_proc/doc/configuration.rst
+++ b/stereo_image_proc/doc/configuration.rst
@@ -1,3 +1,5 @@
+.. _Configuration:
+
 Configuration
 =============
 
@@ -84,4 +86,6 @@ To view point clouds, you can use ``rviz2``.
 Choosing Good Stereo Parameters
 -------------------------------
 
-TODO
\ No newline at end of file
+There is an extensive tutorial on the
+`ROS 1 wiki <http://wiki.ros.org/stereo_image_proc/Tutorials/ChoosingGoodStereoParameters>`,
+however not all components exist in ROS 2 yet.
diff --git a/stereo_image_proc/doc/index.rst b/stereo_image_proc/doc/index.rst
index acc958ffc..c450183fa 100644
--- a/stereo_image_proc/doc/index.rst
+++ b/stereo_image_proc/doc/index.rst
@@ -1,22 +1,20 @@
-stereo_image_proc
-=================
+Overview
+========
 
 This package contains a number of ROS 2 components, nodes, and launch files
 for stereo image processing.
 
-stereo_image_proc performs the duties of image_proc for both cameras,
-undistorting and colorizing the raw images. Note that for properly
-calibrated stereo cameras, undistortion is actually combined with
-rectification, transforming the images so that their scanlines
-line up for fast stereo processing.
+If porting from ROS 1, please note that the ``stereo_image_proc`` node no
+longer exists and instead you should use ``stereo_image_proc.launch.py``.
+See the :ref:`Configuration` page for more detail.
 
-stereo_image_proc will also compute disparity images from incoming stereo
+``DisparityNode`` can compute disparity images from incoming stereo
 pairs using
 `OpenCV's block matching <https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm>`_
 algorithm. These are best inspected
 using ``stereo_view`` which is available in the ``image_view`` package.
 
-The node will also produce point clouds, which you can view in ``rviz``,
+``PointCloudNode`` can produce point clouds, which you can view in ``rviz``,
 and process with PCL.
 
 The image below shows the **left/image_raw** and **right_image_raw**.
@@ -46,6 +44,7 @@ viewed with ``stereo_view`` from the ``image_view`` package.
 .. toctree::
    :maxdepth: 2
 
+   self
    components
    configuration
    tutorials
diff --git a/stereo_image_proc/doc/stereo_frames.svg b/stereo_image_proc/doc/stereo_frames.svg
deleted file mode 100644
index bac9f92cd..000000000
--- a/stereo_image_proc/doc/stereo_frames.svg
+++ /dev/null
@@ -1,1052 +0,0 @@
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