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