Module: limbFinding¶
Module reads in a message containing a pointer to an image and writes out the pixels that are on the lit limb of the planet.
The module
PDF Description
contains further information on this module’s function,
how to run it, as well as testing.
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class
LimbFinding: public SysModel¶ Public Functions
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LimbFinding()¶ The constructor for the HoughCircles module. It also sets some default values at its creation.
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~LimbFinding()¶ This is the destructor
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void
UpdateState(uint64_t CurrentSimNanos)¶ This module reads an OpNav image and extracts limb points from its content using OpenCV’s Canny Transform. It performs a greyscale, and blur on the image to facilitate edge-detection.
- Return
void
- Parameters
CurrentSimNanos: The clock time at which the function was called (nanoseconds)
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void
SelfInit()¶ This method creates the module output message of type LimbOpNavMsg.
- Return
void
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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
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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
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std::string
filename¶ Filename for module to read an image directly.
The name of the Limb output message.
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std::string
imageInMsgName¶ The name of the ImageFswMsg output message.
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std::string
saveDir¶ Directory to save images to.
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uint64_t
sensorTimeTag¶ [ns] Current time tag for sensor out
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int32_t
blurrSize¶ [px] Size of the blurring box in pixels
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int32_t
cannyThreshHigh¶ [px] Canny edge detection Threshold
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int32_t
cannyThreshLow¶ [-] Second Threshold for Canny detection
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int32_t
saveImages¶ [-] 1 to save images to file for debugging
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int32_t
limbNumThresh¶ [-] Threshold for when a limb is detected
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