fixing last variable names

Author: rom-thom

image-filtering/config/image_filtering_params.yaml

@@ -41,7 +41,7 @@
         maxval: 255.
         invert: true
       temporal_noise:
-        blur_sigma: 4.0
+        median_kernel_size: 3
         power_law_weight: 4.0 # Weight for the gamma function
         erotion_size: 2
         dilation_size: 4

image-filtering/include/image_filtering/lib/filters/temporal_noise.hpp

@@ -9,7 +9,7 @@
 /////////////////////////////
 namespace vortex::image_filtering {
 struct TemporalNoiseParams {
-    double blur_sigma;
+    int median_kernel_size;
     double power_law_weight;
 
     int canny_low;
@@ -35,18 +35,19 @@ class TemporalNoise : public Filter {
 
 inline void TemporalNoise::apply_filter(const cv::Mat& original,
                                         cv::Mat& filtered) const {
-    const double sigma = filter_params_.blur_sigma;
+    // const double sigma = filter_params_.blur_sigma;
     const double power_law_weight = filter_params_.power_law_weight;
     const int erosion_size = filter_params_.erotion_size;
     const int dilation_size = filter_params_.dilation_size;
     const int protect_radius = filter_params_.edge_protection_radius;
     const int canny_low = filter_params_.canny_low;
     const int canny_high = filter_params_.canny_high;
+    const int median_kernel_size = filter_params_.median_kernel_size;
 
     cv::Mat temp;
     original.copyTo(temp);
 
-    apply_median(temp, temp, 3);
+    apply_median(temp, temp, median_kernel_size);
 
     apply_auto_gamma(temp, power_law_weight);
 

image-filtering/src/ros/image_filtering_ros.cpp

@@ -146,8 +146,8 @@ void ImageFilteringNode::set_filter_params() {
         }
         case FilterType::TemporalNoise: {
             TemporalNoiseParams params;
-            params.blur_sigma = declare_and_get<double>(
-                "filter_params.temporal_noise.blur_sigma");
+            params.median_kernel_size = declare_and_get<int>(
+                "filter_params.temporal_noise.median_kernel_size");
             params.power_law_weight = declare_and_get<double>(
                 "filter_params.temporal_noise.power_law_weight");
             params.erotion_size = declare_and_get<int>(