48 lines
1.4 KiB
Protocol Buffer
48 lines
1.4 KiB
Protocol Buffer
|
syntax = "proto2";
|
||
|
|
package gazebo.msgs;
|
||
|
|
|
||
|
|
/// \ingroup gazebo_msgs
|
||
|
|
/// \interface CameraLens
|
||
|
|
/// \brief Information and control over a camera lens element
|
||
|
|
|
||
|
|
message CameraLens
|
||
|
|
{
|
||
|
|
/// \brief Type of projection of the lens
|
||
|
|
/// possible values are "gnomonical", "stereographic", "equidistant",
|
||
|
|
/// "equisolid_angle", "stereographic", "custom".
|
||
|
|
/// If you set this value to "custom" you need to specify at least one
|
||
|
|
/// of the `c1`, `c2`, `c3`, `f` or `fun`.
|
||
|
|
required string type = 1;
|
||
|
|
|
||
|
|
/// \brief Linear image scaling factor
|
||
|
|
optional double c1 = 2;
|
||
|
|
|
||
|
|
/// \brief Angle scaling factor
|
||
|
|
optional double c2 = 3;
|
||
|
|
|
||
|
|
/// \brief Angle offset factor
|
||
|
|
optional double c3 = 4;
|
||
|
|
|
||
|
|
/// \brief Linear scaling factor, unlike `c1`, will be adjusted to match hfov
|
||
|
|
/// if scale_to_fov is set to `true`.
|
||
|
|
optional double f = 5;
|
||
|
|
|
||
|
|
/// \brief Angle modification function
|
||
|
|
// possible values are "tan", "sin" and "id".
|
||
|
|
optional string fun = 6;
|
||
|
|
|
||
|
|
/// \brief Scale image to fit horizontal FOV
|
||
|
|
optional bool scale_to_hfov = 7;
|
||
|
|
|
||
|
|
/// \brief Everything outside of this angle will be hidden,
|
||
|
|
/// the angle is counted from camera's X (forward) axis.
|
||
|
|
optional double cutoff_angle = 8;
|
||
|
|
|
||
|
|
/// \brief Horizontal field of view in radians.
|
||
|
|
optional double hfov = 9;
|
||
|
|
|
||
|
|
/// \brief Size of cube map texture,
|
||
|
|
/// used to store intermediate rendering result.
|
||
|
|
optional int32 env_texture_size = 10;
|
||
|
|
}
|