Thomas refactor #17

rom-thom · 2026-01-07T12:39:44Z

Refactoring the structure of the image filtering to give it more functionality trough classes. Updated Readme and comenting

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ci: add ci workflows and config files

otsu filter and refactor

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declare param function

…rameters)

…x-image-filtering into Thomas_refactor

…, blus some finishing tuches in comenting and so on

… story has to go (cant merge to main with it)

codecov · 2026-01-07T12:48:49Z

Codecov Report

❌ Patch coverage is 0% with 370 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (1451a74) to head (e8d5e0f).

Files with missing lines	Patch %	Lines
image-filtering/src/image_filtering_ros.cpp	0.00%	134 Missing ⚠️
image-filtering/src/utilities.cpp	0.00%	130 Missing ⚠️
image-filtering/src/image_processing.cpp	0.00%	76 Missing ⚠️
...ltering/include/image_filters/image_processing.hpp	0.00%	30 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff           @@
##            main     #17    +/-   ##
======================================
  Coverage   0.00%   0.00%            
======================================
  Files          3       5     +2     
  Lines        234     464   +230     
  Branches      18      35    +17     
======================================
- Misses       234     464   +230

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
...ring/include/image_filters/image_filtering_ros.hpp	`0.00% <ø> (ø)`
...ltering/include/image_filters/image_processing.hpp	`0.00% <0.00%> (ø)`
image-filtering/src/image_processing.cpp	`0.00% <0.00%> (ø)`
image-filtering/src/utilities.cpp	`0.00% <0.00%> (ø)`
image-filtering/src/image_filtering_ros.cpp	`0.00% <0.00%> (ø)`

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jorgenfj · 2026-01-08T20:02:02Z

template<typename T>
T declare_and_get(
    const std::string& name,
    const T& default_value)
{
    if (!this->has_parameter(name)) {
        this->declare_parameter<T>(name, default_value);
    }
    return this->get_parameter(name).as<T>();
}

Can something like this be used to avoid having to declare all parameters.
Then the declare_parameters function only has to declare the topics names and filter type and this declare_and_get function can be used in set_filter_params

jorgenfj · 2026-01-08T20:03:34Z

Also remove the new filters that are not present on the main branch. This PR should just be a refactor, not add filters

jorgenfj · 2026-01-08T20:07:04Z

Add namespace vortex::image_filtering to header files

jorgenfj

You should look into splitting up ros and non-ros code in subfolders /lib and /ros and then export /lib as a separate library so that other users can directly import filters into their code. An example of this setup in terms of folder structure and Cmake is here pose_filtering.

Also remove the "Todo" and "examples" from the actual code. It is enough that it is documented in the README how you implement new filters. That should be fine as vortexers have gigachad IQ

image-filtering/include/image_filters/image_filtering_ros.hpp

jorgenfj · 2026-01-08T16:04:47Z

image-filtering/include/image_filters/image_processing.hpp

+    std::cout << "\033[33m No string connected to that filter type: '" << s
+              << "'. This might be misspelling or you need to add the filter "
+                 "type to kFilterMap in image_processing.hpp\033[0m";


Consider using spdlog instead. spdlog::warn will return red warning messages.

jorgenfj · 2026-01-08T16:07:08Z

image-filtering/include/image_filters/image_processing.hpp

+static constexpr std::pair<std::string_view, FilterType> kFilterMap[] = {
+    {"no_filter", FilterType::NoFilter},
+    {"flip", FilterType::Flip},
+    {"unsharpening", FilterType::Unsharpening},
+    {"erosion", FilterType::Erosion},
+    {"dilation", FilterType::Dilation},
+    {"white_balancing", FilterType::WhiteBalancing},
+    {"ebus", FilterType::Ebus},
+    {"otsu", FilterType::Otsu},
+    {"overlap", FilterType::Overlap},
+    {"median_binary", FilterType::MedianBinary},
+    {"binary", FilterType::Binary},
+
+    // TODO(Vortex): Also add your filter here
+    {"example", FilterType::Example},
+    {"unknown", FilterType::Unknown}};
+
+inline std::string to_lower(std::string s) {
+    for (char& ch : s) {
+        ch = static_cast<char>(std::tolower(static_cast<unsigned char>(ch)));
+    }
+    return s;
+}
+
+inline FilterType parse_filter_type(std::string s) {
+    s = to_lower(std::move(s));
+
+    for (auto [name, type] : kFilterMap) {
+        if (s == name)
+            return type;
+    }
+    std::cout << "\033[33m No string connected to that filter type: '" << s
+              << "'. This might be misspelling or you need to add the filter "
+                 "type to kFilterMap in image_processing.hpp\033[0m";
+    return FilterType::Unknown;
+}
+
+inline std::string_view filtertype_to_string(FilterType t) {
+    for (auto [name, type] : kFilterMap) {
+        if (t == type)
+            return name;
+    }
+    std::cout << "\033[33m No string connected to your filter type. To fix "
+                 "this add the string and filter type to kFilterMap\033[0m";
+    return "unknown";


Can move kFilterMap, to_lower, parse_filter_type, filtertype_to_string be moved to a util header file

maybe to a different header than the one where you keep the image util functions

jorgenfj · 2026-01-08T16:10:18Z

image-filtering/include/image_filters/image_processing.hpp

+inline std::string_view filtertype_to_string(FilterType t) {
+    for (auto [name, type] : kFilterMap) {
+        if (t == type)
+            return name;
+    }
+    std::cout << "\033[33m No string connected to your filter type. To fix "
+                 "this add the string and filter type to kFilterMap\033[0m";
+    return "unknown";
+}


This should not be needed. For the filtertype setup where this is used, just return early in default case/clause, print the string ros parameter instead of calling this function after the switch case.

jorgenfj · 2026-01-08T20:30:23Z

image-filtering/include/image_filters/image_processing.hpp

+struct FlipParams {
+    int flip_code;
+};


Can you create an enum class for the different flip codes

image-filtering/src/image_filtering_ros.cpp

jorgenfj · 2026-01-08T20:43:09Z

image-filtering/src/image_filtering_ros.cpp

 void ImageFilteringNode::set_filter_params() {
-    FilterParams params;
-    std::string filter =
+    std::string filter_type_string =


Maybe create small helper functions to construct the filter types and place them in a ros utils header file

jorgenfj · 2026-01-08T20:43:53Z

image-filtering/src/image_filtering_ros.cpp

 void ImageFilteringNode::check_and_subscribe_to_image_topic() {
    std::string image_topic = this->get_parameter("sub_topic").as_string();


Can you add a similar function for the publisher

image-filtering/src/image_filtering_ros.cpp

README.md

…, and adding somme util files for ros only

jorgenfj and others added 30 commits May 26, 2024 15:33

Initial commit

0063195

initial commit

11d9ab7

added gitignore

39e8379

removed unused main file

eb7c50c

ci: add ci workflows and config files

385c042

[pre-commit.ci] auto fixes from pre-commit.com hooks

8dcc03f

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Merge pull request #3 from vortexntnu/ci/setup-workflows

a7f2da6

ci: add ci workflows and config files

docs(README.md): add status badges for CI workflows

69cd612

otsu filter and refactor

2507055

Merge pull request #5 from vortexntnu/refactor-and-otsu-filter

51f4892

otsu filter and refactor

declare param function

af7438c

[pre-commit.ci] auto fixes from pre-commit.com hooks

a52c845

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[pre-commit.ci] pre-commit autoupdate

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updates: - [github.com/astral-sh/ruff-pre-commit: v0.11.4 → v0.12.2](astral-sh/ruff-pre-commit@v0.11.4...v0.12.2) - [github.com/pre-commit/mirrors-clang-format: v20.1.0 → v20.1.7](pre-commit/mirrors-clang-format@v20.1.0...v20.1.7)

Merge pull request #7 from vortexntnu/declare-param-function

e76c207

declare param function

Adding the gauian blur but without the 5th step (declare and asign pa…

29291ad

…rameters)

Adding future stuf

8719586

adding new files and filters

45d7cf8

remove .vscode files and cashed stuff

9e30fe6

remove image_filtering.vscode files and cashed stuff

43c0d08

Making the utils file work

d68360d

Starting the modulation prosses. made auto gamma modular

497d74d

Adding modular computation of otsu threshold

c794f1f

test

2ab9709

adding last part has to be tested first

544c9ce

Add dilation errotion and dilation

d9c206e

Small changes

ad04b9b

finishing the modularity phase

f4e9a43

adding last part of the modularity stuf

d7fcc6a

its time to say goodbye

23a8a1b

rom-thom added 12 commits November 13, 2025 09:47

Adding the rest of the filters

4ec71f2

changed(not realy fixed) some bugs

4596c56

removing unesesary code

fdb5e6b

Merge branch 'Thomas_refactor' of https://github.com/vortexntnu/vorte…

7a64cf5

…x-image-filtering into Thomas_refactor

Documenting the code with examples

6c29ba5

refactoring

1737631

Fixing mono vs bgr for otsu

c06fb2f

Merge branch 'main' into Thomas_refactor

146b0e0

Adding final tutches, like coloring coments ++

2a28bc9

i fixed a warning coming from the dinosaur from toy story in asci art…

1cae050

…, blus some finishing tuches in comenting and so on

Maching the read me

213dc8b

sadest chapter of vortex history: unfortunately the dinosaur from toy…

61844d9

… story has to go (cant merge to main with it)

rom-thom added 5 commits January 7, 2026 13:55

spelling mistake

8904c7c

Spelling

82a5e2a

Fixing with precommit

5490448

Fixing some stuf, not all is done?

90dac02

Final changes i hope

c031c91

rom-thom requested review from jorgenfj and kluge7 and removed request for jorgenfj January 8, 2026 14:43

rom-thom added 2 commits January 8, 2026 15:59

We are saved, the dinosaur from toystory is back to life, and beter t…

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…han ever

Removing log files

fd73f5e

jorgenfj reviewed Jan 9, 2026

View reviewed changes

rom-thom added 2 commits January 9, 2026 11:01

Fixing some of jørgens complaints

bc9b5f3

fixing swich case for filtertype and try catch for running the filter…

e8d5e0f

…, and adding somme util files for ros only

		void ImageFilteringNode::check_and_subscribe_to_image_topic() {
		std::string image_topic = this->get_parameter("sub_topic").as_string();

Thomas refactor #17

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Thomas refactor #17

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