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Thomas sonar filter#19

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rom-thom wants to merge 3 commits intomainfrom
thomas_sonar_filter
Open

Thomas sonar filter#19
rom-thom wants to merge 3 commits intomainfrom
thomas_sonar_filter

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Implementing the temporal noise filter for sonar images.

@rom-thom rom-thom requested a review from jorgenfj February 24, 2026 12:58
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codecov bot commented Feb 24, 2026

Codecov Report

❌ Patch coverage is 0% with 25 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (d3627a5) to head (71cc395).

Files with missing lines Patch % Lines
...ude/image_filtering/lib/filters/temporal_noise.hpp 0.00% 18 Missing ⚠️
image-filtering/src/ros/image_filtering_ros.cpp 0.00% 7 Missing ⚠️
Additional details and impacted files
@@          Coverage Diff          @@
##            main     #19   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files         19      20    +1     
  Lines        375     400   +25     
  Branches      32      33    +1     
=====================================
- Misses       375     400   +25     
Flag Coverage Δ
unittests 0.00% <0.00%> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines Coverage Δ
...-filtering/include/image_filtering/lib/typedef.hpp 0.00% <ø> (ø)
image-filtering/src/ros/image_filtering_ros.cpp 0.00% <0.00%> (ø)
...ude/image_filtering/lib/filters/temporal_noise.hpp 0.00% <0.00%> (ø)
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/////////////////////////////
namespace vortex::image_filtering {
struct TemporalNoiseParams {
int dontknow;
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dontknow?

Comment on lines +14 to +15
double power_law_weight;

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Should document somewhere what this does

Comment on lines +30 to +31
mutable bool has_prev_;
};
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mutable bool has_prev_{false};

Comment on lines +56 to +57
apply_erosion(filtered, temp, erotion_size);
apply_dilation(temp, filtered, dilation_size);
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Here you can pass in filtered for both src and dst in both these calls.

temp.copyTo(filtered);
} else {
cv::addWeighted(temp, 0.5, previous_, 0.5, 0.0, filtered);
previous_ = temp.clone(); // update for next call
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should avoid .clone() because it allocates a new buffer

apply_auto_gamma(temp, power_law_weight);

if (!has_prev_) {
has_prev_ = true;
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Makes sense to move this after previous has been assigned

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2 participants