- #include <CameraConfigMsgPayload.h>
Structure used to define the camera parameters.
[-] ID of the camera that took the snapshot*/
The camera is taking images at rendering rate if 1, 0 if not*/.
[-] Name of the parent body to which the camera should be attached
[rad] Camera Field of View, edge-to-edge along camera y-axis */
[-] Camera resolution, width/height in pixels (pixelWidth/pixelHeight in Unity) in pixels*/
[ns] Frame time interval at which to capture images in units of nanosecond */
[m] Camera position in body frame */
[-] MRP defining the orientation of the camera frame relative to the body frame */
string containing the star field preference
(Optional) Enable post-processing of camera image. Value of 0 (protobuffer default) to use viz default which is off, -1 for false, 1 for true
(Optional) Distance to the point of focus, minimum value of 0.1, Value of 0 to turn off this parameter entirely.
(Optional) 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.
[m] (Optional) Valid setting range: 0.001m to 0.3m. Value of 0 to turn off this parameter entirely.
(Optional) 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.
If true, commands camera to update Instrument Camera to current message’s parameters.
(Optional) Value of 0 to render visual image (default), value of 1 to render depth buffer to image
(Optional) [m] Set the bounds of rendered depth map by setting the near and far clipping planes when in renderMode=1 (depthMap mode). Default values of 0.1 and 100.
- int64_t cameraID¶