# 4.2 Sensor Input The following data is made available to teams: * 4 Optical cameras * 1 Lidar * GPS Position * Vessel Heading * Vessel velocities in 3 degrees from freedom Standard system setup of optical cameras: * Field of view: 100 degrees * Framerate: 3 frames per second * Resolution: 1920x1080 The optical cameras are published in ROS as /optical messages. The full topic names are: * /optical/Front/image\_raw * /optical/Starboard/image\_raw * /optical/Back/image\_raw * /optical/Port/image\_raw If the simulation is running slowly, the image resolution can be lowered by increasing the ‘Image Crop’ parameter in each camera object in the Unity editor. --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://njord.gitbook.io/digital-competition-2023/4-platform-interface/4.2-sensor-input.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.