feat: make undistort algorithm parameter configurable

tidewise · Jan 27, 2025 · a701038 · a701038
1 parent f387d64
commit a701038
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Showing 3 changed files with 11 additions and 3 deletions.
diff --git a/camera_base.orogen b/camera_base.orogen
@@ -134,7 +134,7 @@ task_context "Task", subclasses: "Base" do
        doc "The camera_format is converted into this format before it is written to the output port "
            "Set it to MODE_UNDEFINED if you want to disable the conversion and the camera_format shall be used"
 
-    property("resize_algorithm","/frame_helper/ResizeAlgorithm",:INTER_LINEAR).
+    property("resize_algorithm","/frame_helper/InterpolationAlgorithm",:INTER_LINEAR).
         doc "resize algorithm which is used to scale the frame before it is written to the output port. "
             "allowed values are INTER_LINEAR, INTER_NEAREST, INTER_AREA, INTER_CUBIC, INTER_LANCZOS4, BAYER_RESIZE"
 
@@ -208,6 +208,10 @@ task_context "Preprocess", subclasses: "Base" do
     input_port('iframe', ro_ptr('base::samples::frame::Frame'))
     output_port 'oframe', ro_ptr('base::samples::frame::Frame')
 
+    property("undistort_algorithm","/frame_helper/InterpolationAlgorithm",:INTER_LINEAR).
+    doc "interpolation algorithm which is used to undistort the frame before it is written to the output port. "
+        "allowed values are INTER_LINEAR, INTER_NEAREST, INTER_AREA, INTER_CUBIC, INTER_LANCZOS4, BAYER_RESIZE"
+
     property("undistort","bool",false).
         doc 'true => undistort the image before it is written to the output port'
 
@@ -218,7 +222,7 @@ task_context "Preprocess", subclasses: "Base" do
        doc "The image is converted into this format before it is written to the output port "
            "Set it to MODE_UNDEFINED if you want to disable the conversion."
 
-    property("resize_algorithm","/frame_helper/ResizeAlgorithm",:INTER_LINEAR).
+    property("resize_algorithm","/frame_helper/InterpolationAlgorithm",:INTER_LINEAR).
         doc "resize algorithm which is used to scale the frame before it is written to the output port. "
             "allowed values are INTER_LINEAR, INTER_NEAREST, INTER_AREA, INTER_CUBIC, INTER_LANCZOS4, BAYER_RESIZE"
 

diff --git a/tasks/Preprocess.cpp b/tasks/Preprocess.cpp
@@ -30,6 +30,7 @@ bool Preprocess::configureHook()
         return false;
     if (_undistort.value())
         frame_helper.setCalibrationParameter(_calibration_parameters.value());
+    m_undistort_algorithm = _undistort_algorithm.get();
     return true;
 }
 
@@ -58,7 +59,8 @@ void Preprocess::updateHook()
             _offset_x.value(),
             _offset_y.value(),
             _resize_algorithm.value(),
-            _undistort.value());
+            _undistort.value(),
+            m_undistort_algorithm);
     }
     catch (std::runtime_error e) {
         RTT::log(RTT::Error) << "processing error: " << e.what() << RTT::endlog();

diff --git a/tasks/Preprocess.hpp b/tasks/Preprocess.hpp
@@ -5,6 +5,7 @@
 
 #include "camera_base/PreprocessBase.hpp"
 #include "frame_helper/FrameHelper.h"
+#include "frame_helper/FrameHelperTypes.h"
 
 namespace camera_base {
 
@@ -32,6 +33,7 @@ namespace camera_base {
     protected:
         RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> oframe;
         frame_helper::FrameHelper frame_helper; // helper for image processing
+        frame_helper::InterpolationAlgorithm m_undistort_algorithm;
 
     public:
         /** TaskContext constructor for Preprocess