Module: houghCircles¶
Module reads in a message containing a pointer to an image and writes out the circles that are found in the image by OpenCV’s HoughCricle Transform.
The module
PDF Description
contains further information on this module’s function,
how to run it, as well as testing.
-
class
HoughCircles: public SysModel¶ Public Functions
-
HoughCircles()¶ The constructor for the HoughCircles module. It also sets some default values at its creation.
-
~HoughCircles()¶ This is the destructor
-
void
UpdateState(uint64_t CurrentSimNanos)¶ This module reads an OpNav image and extracts circle information from its content using OpenCV’s HoughCircle Transform. It performs a greyscale, a bur, and a threshold on the image to facilitate circle-finding.
- Return
void
- Parameters
CurrentSimNanos: The clock time at which the function was called (nanoseconds)
-
void
SelfInit()¶ Selfinit performs the first stage of initialization for this module. It’s primary function is to create messages that will be written to.
- Return
void
-
void
CrossInit()¶ CrossInit performs the second stage of initialization for this module. It’s primary function is to link the input messages that were created elsewhere.
- Return
void
-
void
Reset(uint64_t CurrentSimNanos)¶ This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.
- Return
void
- Parameters
this: The configuration data associated with the module
Public Members
-
std::string
filename¶ Filename for module to read an image directly.
The name of the CirclesOpnavMsg output message.
-
std::string
imageInMsgName¶ The name of the ImageFswMsg output message.
-
std::string
saveDir¶ The name of the directory to save images.
-
uint64_t
sensorTimeTag¶ [ns] Current time tag for sensor out
-
int32_t
blurrSize¶ [px] Size of the blurring box in pixels
-
int32_t
cannyThresh¶ [px] Canny edge detection Threshold
-
int32_t
voteThresh¶ [-] Threshold in number of votes to qualify a circle as detected
-
int32_t
houghMinDist¶ [px] Min distance between 2 detected circles
-
int32_t
houghMinRadius¶ [-] Min radius of a detected circle
-
int32_t
houghMaxRadius¶ [-] Max radius of a detected circle
-
int32_t
dpValue¶ [-] Subscaling of image for circle searching, 1 searches full image
-
double
noiseSF¶ [-] Scale Factor for noise control
-
int32_t
expectedCircles¶ [-] Number of expected circles to be found
-
int32_t
saveImages¶ [-] 1 to save images to file for debugging
-