Camera crash ubuntu 22 gcc 9 5

src/simulation/sensors/camera/camera.cpp

@@ -36,37 +36,9 @@
 /*! The constructor for the Camera module. It also sets some default values at its creation.  */
 Camera::Camera()
 {
-    this->pointImageOut = NULL;
-
-    /*! Default values for the camera.  */
-    this->cameraID = 1;
-    this->resolution[0] = 512;
-    this->resolution[1] = 512;
     this->renderRate = (uint64_t) (60*1E9);
     v3SetZero(this->cameraPos_B);
     v3SetZero(this->sigma_CB);
-    this->cameraIsOn = 0;
-    this->filename = "";
-    this->fieldOfView = 0.7;
-    strcpy(this->skyBox, "black");
-    this->saveImages = 0;
-    this->saveDir = "";
-    this->postProcessingOn = 0;
-    this->ppAperture = 0;
-    this->ppFocalLength = 0;
-    this->ppFocusDistance = 0;
-    this->ppMaxBlurSize = 0;
-
-    /*! Default values for the perturbations.  */
-    this->gaussian = 0;
-    this->darkCurrent = 0;
-    this->saltPepper = 0;
-    this->cosmicRays = 0;
-    this->blurParam = 0;
-    this->hsv = std::vector<double>{0., 0., 0.};
-    this->bgrPercent = std::vector<int>{0, 0, 0};
-
-    return;
 }
 
 

src/simulation/sensors/camera/camera.h

@@ -52,44 +52,43 @@ class Camera: public SysModel {
     void AddCosmicRayBurst(const cv::Mat, cv::Mat &mDst, double);
     void ApplyFilters(cv::Mat, cv::Mat &mDst, double gaussian, double darkCurrent, double saltPepper, double cosmicRays, double blurparam);
 public:
-    std::string filename;                //!< Filename for module to read an image directly
+    std::string filename{};                //!< Filename for module to read an image directly
     ReadFunctor<CameraImageMsgPayload> imageInMsg;      //!< camera image input message
     Message<CameraImageMsgPayload> imageOutMsg;         //!< camera image output message
     Message<CameraConfigMsgPayload> cameraConfigOutMsg; //!< The name of the CameraConfigMsg 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 saveImages;                  //!< [-] 1 to save images to file for debugging
+    std::string saveDir{};                 //!< The name of the directory to save images
+    uint64_t sensorTimeTag{};              //!< [ns] Current time tag for sensor out
+    int32_t saveImages{};                  //!< [-] 1 to save images to file for debugging
 
     /*! Camera parameters */
-    int cameraIsOn; //!< [-] Is the camera currently taking images
-    int cameraID; //!< [-] Is the camera currently taking images
-    int resolution[2];         //!< [-] Camera resolution, width/height in pixels (pixelWidth/pixelHeight in Unity) in pixels
-    uint64_t renderRate;       //!< [ns] Frame time interval at which to capture images in units of nanosecond
-    double fieldOfView;        //!< [r] camera y-axis field of view edge-to-edge
-    double cameraPos_B[3];     //!< [m] Camera position in body frame
-    double sigma_CB[3];        //!< [-] MRP defining the orientation of the camera frame relative to the body frame
-    char skyBox[MAX_STRING_LENGTH]; //!< [-] name of skyboz in use
-    int postProcessingOn;       //!< Enable post-processing of camera image. Value of 0 (protobuffer default) to use viz default which is off, -1 for false, 1 for true
-    double ppFocusDistance;     //!< Distance to the point of focus, minimum value of 0.1, Value of 0 to turn off this parameter entirely.
-    double ppAperture;          //!<  Ratio of the aperture (known as f-stop or f-number). The smaller the value is, the shallower the depth of field is. Valid Setting Range: 0.05 to 32. Value of 0 to turn off this parameter entirely.
-    double ppFocalLength;       //!< [m] Valid setting range: 0.001m to 0.3m. Value of 0 to turn off this parameter entirely.
-    int ppMaxBlurSize;          //!< Convolution kernel size of the bokeh filter, which determines the maximum radius of bokeh. It also affects the performance (the larger the kernel is, the longer the GPU time is required). Depth textures Value of 1 for Small, 2 for Medium, 3 for Large, 4 for Extra Large. Value of 0 to turn off this parameter entirely.
-
     char parentName[MAX_STRING_LENGTH]{};  //!< [-] Name of the parent body to which the camera should be attached
+    int cameraIsOn{}; //!< [-] Is the camera currently taking images
+    int cameraID{1}; //!< [-] Is the camera currently taking images
+    int resolution[2]{512, 512};         //!< [-] Camera resolution, width/height in pixels (pixelWidth/pixelHeight in Unity) in pixels
+    uint64_t renderRate{};       //!< [ns] Frame time interval at which to capture images in units of nanosecond
+    double fieldOfView{0.7};       //!< [r] camera y-axis field of view edge-to-edge
+    double cameraPos_B[3]{};     //!< [m] Camera position in body frame
+    double sigma_CB[3]{};        //!< [-] MRP defining the orientation of the camera frame relative to the body frame
+    char skyBox[MAX_STRING_LENGTH]{"black"}; //!< [-] name of skyboz in use
+    int postProcessingOn{};       //!< Enable post-processing of camera image. Value of 0 (protobuffer default) to use viz default which is off, -1 for false, 1 for true
+    double ppFocusDistance{};     //!< Distance to the point of focus, minimum value of 0.1, Value of 0 to turn off this parameter entirely.
+    double ppAperture{};          //!<  Ratio of the aperture (known as f-stop or f-number). The smaller the value is, the shallower the depth of field is. Valid Setting Range: 0.05 to 32. Value of 0 to turn off this parameter entirely.
+    double ppFocalLength{};       //!< [m] Valid setting range: 0.001m to 0.3m. Value of 0 to turn off this parameter entirely.
+    int ppMaxBlurSize{};          //!< Convolution kernel size of the bokeh filter, which determines the maximum radius of bokeh. It also affects the performance (the larger the kernel is, the longer the GPU time is required). Depth textures Value of 1 for Small, 2 for Medium, 3 for Large, 4 for Extra Large. Value of 0 to turn off this parameter entirely.
 
     /*! Noise paramters */
-    double gaussian;        //!< Gaussian noise level
-    double darkCurrent;    //!< Dark current intensity
-    double saltPepper;    //!< Stuck and Dark pixels probability
-    double cosmicRays;        //!< Random cosmic rays (number)
-    double blurParam;        //!< Blur over image in pixels
-    std::vector<double> hsv;    //!< (double) HSV color correction, H (-pi/pi) hue shift, S and V are percent multipliers
-    std::vector<int> bgrPercent; //!< (int) BGR color correction values as percent
+    double gaussian{};        //!< Gaussian noise level
+    double darkCurrent{};    //!< Dark current intensity
+    double saltPepper{};    //!< Stuck and Dark pixels probability
+    double cosmicRays{};        //!< Random cosmic rays (number)
+    double blurParam{};        //!< Blur over image in pixels
+    std::vector<double> hsv{};    //!< (double) HSV color correction, H (-pi/pi) hue shift, S and V are percent multipliers
+    std::vector<int> bgrPercent{}; //!< (int) BGR color correction values as percent
 
     BSKLogger bskLogger;                      //!< -- BSK Logging
 private:
-    uint64_t CurrentSimNanos;
-    void* pointImageOut;      //!< void pointer for image memory passing
+    uint64_t CurrentSimNanos{};
+    void* pointImageOut{nullptr};      //!< void pointer for image memory passing
 };
 
 /* @} */