# 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.