CameraModelMsgPayload#

struct CameraModelMsgPayload#

Structure used to define the camera model.

Public Members

int cameraId#: [-] ID of the camera that took the snapshot*/

bool isOn#: The camera is taking images at rendering rate if 1, 0 if not*/.

char parentName[MAX_STRING_LENGTH]#: [-] Name of the parent body to which the camera should be attached

double fieldOfView[2]#: [rad] Camera Field of View, edge-to-edge along camera y-axis */

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 cameraBodyFramePosition[3]#: [m] Camera position in body frame */

double bodyToCameraMrp[3]#: [-] MRP defining the orientation of the camera frame relative to the body frame */

double focalLength#: [m] Camera focal length

int gaussianPointSpreadFunction#: Size of square Gaussian kernel to model point spread function, must be odd.

double exposureTime#: [s] Exposure time for each image taken

double readNoise#: [e-] Read noise standard deviation

bool shotNoise#: [-] Model shot noise true or false

double darkCurrent#: [e-/s] Dark current variance value in electrons per second

double systemGain#: Mapping from current to pixel intensity.

double gammaCorrection#: Gamma correction factor for improved mid-tones.

double apertureRadius#: [m] Aperture radius of lens

double sensorWidth#: [m] Width of sensor

double sensorHeight#: [m] Height of sensor

double fullWellCapacity#: [e-] Amount of charge that can be stored within an individual pixel

double integrationWeightFactor#: [-] Weight factor for integration over wavelength to obtain photo-electrons

double redQuantumEfficiency[3]#: [-] Values of QE curve at specified wavelengths (red channel)

double greenQuantumEfficiency[3]#: [-] Values of QE curve at specified wavelengths (green channel)

double blueQuantumEfficiency[3]#: [-] Values of QE curve at specified wavelengths (blue channel)

double horizontalVignetting[MAX_POLY_COEFF]#: [-] Polynomial coefficients to form the curve of vignetting (values between 0 and 1) as a function of horizontal distance from camera center (degrees)

double verticalVignetting[MAX_POLY_COEFF]#: [-] Polynomial coefficients to form the curve of vignetting (values between 0 and 1) as a function of vertical distance from camera center (degrees)

double distortion[MAX_POLY_COEFF]#: [-] Polynomial coefficients to form the curve of distortion (values between 0 and 1) as a function of vertical distance from camera center (degrees)

double transmission#: [-] Transmission rate of the lens (value between 0 and 1) assumed constant over all wavelengths

char imageFormat[MAX_FORMAT_LENGTH]#: image format (raw, png, jpeg)

int bitDepth#: bit depth if raw is selected