Module blueye.sdk.camera
View Source
import numpy as np
from packaging import version
class Tilt:
@staticmethod
def _tilt_angle_from_debug_flags(flags: int) -> int:
"""Helper function for decoding tilt angle from debug flags
The tilt angle is encoded as an int8, with 0 at 0 degrees, and each increment representing
0.5 degrees in either direction. A positive angle is upwards, and negative is downwards.
"""
tilt_angle_array = np.array(
np.right_shift(np.bitwise_and(flags, 0x0000FF0000000000), 40),
dtype=[("tilt_angle", np.int8)],
).astype([("tilt_angle", np.float)])
return tilt_angle_array["tilt_angle"] / 2
def __init__(self, parent_drone):
self._parent_drone = parent_drone
def set_speed(self, speed: int):
"""Set the speed and direction of the camera tilt
*Arguments*:
* speed (int): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Requires a drone with the tilt feature, and software version 1.5 or newer.
A RuntimeError is raised if either of those requirements are not met.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
if version.parse(self._parent_drone.software_version_short) < version.parse("1.5"):
raise RuntimeError("Drone software version is too old. Requires version 1.5 or higher.")
# The tilt command is grouped together with the thruster commands, so to avoid messing with
# the thruster setpoint while tilting we need to get the current setpoint and send it with
# the tilt command.
with self._parent_drone.motion.thruster_lock:
thruster_setpoints = self._parent_drone.motion.current_thruster_setpoints.values()
self._parent_drone._tcp_client.motion_input_tilt(*thruster_setpoints, 0, 0, speed)
@property
def angle(self) -> int:
"""Return the current angle of the camera tilt
Requires a drone with the tilt feature, and software version 1.5 or newer.
A RuntimeError is raised if either of those requirements are not met.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
if version.parse(self._parent_drone.software_version_short) < version.parse("1.5"):
raise RuntimeError("Drone software version is too old. Requires version 1.5 or higher.")
debug_flags = self._parent_drone._state_watcher.general_state["debug_flags"]
return self._tilt_angle_from_debug_flags(debug_flags)
class Camera:
def __init__(self, parent_drone):
self._tcp_client = parent_drone._tcp_client
self._state_watcher = parent_drone._state_watcher
self._parent_drone = parent_drone
self.tilt = Tilt(parent_drone)
@property
def is_recording(self) -> bool:
"""Start or stop a camera recording
*Arguments*:
* is_recording (bool): Set to True to start a recording, set to False to stop the current recording
*Returns*:
* is_recording (bool): True if the camera is currently recording, False if not
"""
state = self._state_watcher.general_state
if state["camera_record_time"] != -1:
return True
else:
return False
@is_recording.setter
def is_recording(self, start_recording: bool):
if start_recording:
self._tcp_client.start_recording()
else:
self._tcp_client.stop_recording()
@property
def bitrate(self) -> int:
"""Set or get the camera bitrate
*Arguments*:
* bitrate (int): Set the camera bitrate in bits, Valid values are in range <1 000 000, 16 000 000>
*Returns*:
* bitrate (int): Get the camera bitrate
"""
camera_parameters = self._tcp_client.get_camera_parameters()
bitrate = camera_parameters[1]
return bitrate
@bitrate.setter
def bitrate(self, bitrate: int):
self._tcp_client.set_camera_bitrate(bitrate)
@property
def exposure(self) -> int:
"""Set or get the camera exposure
*Arguments*:
* exposure (int): Set the camera exposure_value: 1 = 1/1000th of a second, 5 = 1/200th of a second. Valid values are in the range <1, 5000>
*Returns*:
* exposure (int): Get the camera exposure
"""
camera_parameters = self._tcp_client.get_camera_parameters()
exposure = camera_parameters[2]
return exposure
@exposure.setter
def exposure(self, exposure: int):
self._tcp_client.set_camera_exposure(exposure)
@property
def whitebalance(self) -> int:
"""Set or get the camera white balance
*Arguments*:
* whitebalance (int): Set the camera white balance. Valid values are in the range <2800, 9300>
*Returns*:
* whitebalance (int): Get the camera white balance
"""
camera_parameters = self._tcp_client.get_camera_parameters()
whitebalance = camera_parameters[3]
return whitebalance
@whitebalance.setter
def whitebalance(self, whitebalance: int):
self._tcp_client.set_camera_whitebalance(whitebalance)
@property
def hue(self) -> int:
"""Set or get the camera hue
*Arguments*:
* hue (int): Set the camera hue. Valid values are in the range <-40, 40>
*Returns*:
* hue (int): Get the camera hue
"""
camera_parameters = self._tcp_client.get_camera_parameters()
hue = camera_parameters[4]
return hue
@hue.setter
def hue(self, hue: int):
self._tcp_client.set_camera_hue(hue)
@property
def resolution(self) -> int:
"""Set or get the camera resolution
*Arguments*:
* resolution (int): Set the camera in vertical pixels. Valid values are 480, 720 or 1080
*Returns*:
* resolution (int): Get the camera resolution
"""
camera_parameters = self._tcp_client.get_camera_parameters()
resolution = camera_parameters[5]
return resolution
@resolution.setter
def resolution(self, resolution: int):
self._tcp_client.set_camera_resolution(resolution)
@property
def framerate(self) -> int:
"""Set or get the camera frame rate
*Arguments*:
* framerate (int): Set the camera frame rate in frames per second. Valid values are 25 or 30
*Returns*:
* framerate (int): Get the camera frame rate
"""
camera_parameters = self._tcp_client.get_camera_parameters()
framerate = camera_parameters[6]
return framerate
@framerate.setter
def framerate(self, framerate: int):
self._tcp_client.set_camera_framerate(framerate)
@property
def record_time(self) -> int:
"""Set or get the duration of the current camera recording
*Returns*:
* record_time (int): The length in seconds of the current recording, -1 if the camera is not currently recording
"""
return self._state_watcher.general_state["camera_record_time"]
def take_picture(self):
"""Takes a still picture and stores it locally on the drone
These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.
This feature was added with drone version 1.4.7, so if you try to use it with an older
version this method will raise a RunTimeError.
"""
if version.parse(self._parent_drone.software_version_short) >= version.parse("1.4.7"):
self._tcp_client.take_still_picture()
else:
raise RuntimeError(
"Drone software version is too old. Requires version 1.4.7 or higher."
)
Classes
Camera
class Camera(
parent_drone
)
View Source
class Camera:
def __init__(self, parent_drone):
self._tcp_client = parent_drone._tcp_client
self._state_watcher = parent_drone._state_watcher
self._parent_drone = parent_drone
self.tilt = Tilt(parent_drone)
@property
def is_recording(self) -> bool:
"""Start or stop a camera recording
*Arguments*:
* is_recording (bool): Set to True to start a recording, set to False to stop the current recording
*Returns*:
* is_recording (bool): True if the camera is currently recording, False if not
"""
state = self._state_watcher.general_state
if state["camera_record_time"] != -1:
return True
else:
return False
@is_recording.setter
def is_recording(self, start_recording: bool):
if start_recording:
self._tcp_client.start_recording()
else:
self._tcp_client.stop_recording()
@property
def bitrate(self) -> int:
"""Set or get the camera bitrate
*Arguments*:
* bitrate (int): Set the camera bitrate in bits, Valid values are in range <1 000 000, 16 000 000>
*Returns*:
* bitrate (int): Get the camera bitrate
"""
camera_parameters = self._tcp_client.get_camera_parameters()
bitrate = camera_parameters[1]
return bitrate
@bitrate.setter
def bitrate(self, bitrate: int):
self._tcp_client.set_camera_bitrate(bitrate)
@property
def exposure(self) -> int:
"""Set or get the camera exposure
*Arguments*:
* exposure (int): Set the camera exposure_value: 1 = 1/1000th of a second, 5 = 1/200th of a second. Valid values are in the range <1, 5000>
*Returns*:
* exposure (int): Get the camera exposure
"""
camera_parameters = self._tcp_client.get_camera_parameters()
exposure = camera_parameters[2]
return exposure
@exposure.setter
def exposure(self, exposure: int):
self._tcp_client.set_camera_exposure(exposure)
@property
def whitebalance(self) -> int:
"""Set or get the camera white balance
*Arguments*:
* whitebalance (int): Set the camera white balance. Valid values are in the range <2800, 9300>
*Returns*:
* whitebalance (int): Get the camera white balance
"""
camera_parameters = self._tcp_client.get_camera_parameters()
whitebalance = camera_parameters[3]
return whitebalance
@whitebalance.setter
def whitebalance(self, whitebalance: int):
self._tcp_client.set_camera_whitebalance(whitebalance)
@property
def hue(self) -> int:
"""Set or get the camera hue
*Arguments*:
* hue (int): Set the camera hue. Valid values are in the range <-40, 40>
*Returns*:
* hue (int): Get the camera hue
"""
camera_parameters = self._tcp_client.get_camera_parameters()
hue = camera_parameters[4]
return hue
@hue.setter
def hue(self, hue: int):
self._tcp_client.set_camera_hue(hue)
@property
def resolution(self) -> int:
"""Set or get the camera resolution
*Arguments*:
* resolution (int): Set the camera in vertical pixels. Valid values are 480, 720 or 1080
*Returns*:
* resolution (int): Get the camera resolution
"""
camera_parameters = self._tcp_client.get_camera_parameters()
resolution = camera_parameters[5]
return resolution
@resolution.setter
def resolution(self, resolution: int):
self._tcp_client.set_camera_resolution(resolution)
@property
def framerate(self) -> int:
"""Set or get the camera frame rate
*Arguments*:
* framerate (int): Set the camera frame rate in frames per second. Valid values are 25 or 30
*Returns*:
* framerate (int): Get the camera frame rate
"""
camera_parameters = self._tcp_client.get_camera_parameters()
framerate = camera_parameters[6]
return framerate
@framerate.setter
def framerate(self, framerate: int):
self._tcp_client.set_camera_framerate(framerate)
@property
def record_time(self) -> int:
"""Set or get the duration of the current camera recording
*Returns*:
* record_time (int): The length in seconds of the current recording, -1 if the camera is not currently recording
"""
return self._state_watcher.general_state["camera_record_time"]
def take_picture(self):
"""Takes a still picture and stores it locally on the drone
These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.
This feature was added with drone version 1.4.7, so if you try to use it with an older
version this method will raise a RunTimeError.
"""
if version.parse(self._parent_drone.software_version_short) >= version.parse("1.4.7"):
self._tcp_client.take_still_picture()
else:
raise RuntimeError(
"Drone software version is too old. Requires version 1.4.7 or higher."
)
Instance variables
bitrate
Arguments:
- bitrate (int): Set the camera bitrate in bits, Valid values are in range <1 000 000, 16 000 000>
Returns:
- bitrate (int): Get the camera bitrate
exposure
Arguments:
- exposure (int): Set the camera exposure_value: 1 = 1/1000th of a second, 5 = 1/200th of a second. Valid values are in the range <1, 5000>
Returns:
- exposure (int): Get the camera exposure
framerate
Arguments:
- framerate (int): Set the camera frame rate in frames per second. Valid values are 25 or 30
Returns:
- framerate (int): Get the camera frame rate
hue
Arguments:
- hue (int): Set the camera hue. Valid values are in the range <-40, 40>
Returns:
- hue (int): Get the camera hue
is_recording
Arguments:
- is_recording (bool): Set to True to start a recording, set to False to stop the current recording
Returns:
- is_recording (bool): True if the camera is currently recording, False if not
record_time
Returns:
- record_time (int): The length in seconds of the current recording, -1 if the camera is not currently recording
resolution
Arguments:
- resolution (int): Set the camera in vertical pixels. Valid values are 480, 720 or 1080
Returns:
- resolution (int): Get the camera resolution
whitebalance
Arguments:
- whitebalance (int): Set the camera white balance. Valid values are in the range <2800, 9300>
Returns:
- whitebalance (int): Get the camera white balance
Methods
take_picture
def take_picture(
self
)
These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client. This feature was added with drone version 1.4.7, so if you try to use it with an older version this method will raise a RunTimeError.
View Source
def take_picture(self):
"""Takes a still picture and stores it locally on the drone
These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.
This feature was added with drone version 1.4.7, so if you try to use it with an older
version this method will raise a RunTimeError.
"""
if version.parse(self._parent_drone.software_version_short) >= version.parse("1.4.7"):
self._tcp_client.take_still_picture()
else:
raise RuntimeError(
"Drone software version is too old. Requires version 1.4.7 or higher."
)
Tilt
class Tilt(
parent_drone
)
View Source
class Tilt:
@staticmethod
def _tilt_angle_from_debug_flags(flags: int) -> int:
"""Helper function for decoding tilt angle from debug flags
The tilt angle is encoded as an int8, with 0 at 0 degrees, and each increment representing
0.5 degrees in either direction. A positive angle is upwards, and negative is downwards.
"""
tilt_angle_array = np.array(
np.right_shift(np.bitwise_and(flags, 0x0000FF0000000000), 40),
dtype=[("tilt_angle", np.int8)],
).astype([("tilt_angle", np.float)])
return tilt_angle_array["tilt_angle"] / 2
def __init__(self, parent_drone):
self._parent_drone = parent_drone
def set_speed(self, speed: int):
"""Set the speed and direction of the camera tilt
*Arguments*:
* speed (int): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Requires a drone with the tilt feature, and software version 1.5 or newer.
A RuntimeError is raised if either of those requirements are not met.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
if version.parse(self._parent_drone.software_version_short) < version.parse("1.5"):
raise RuntimeError("Drone software version is too old. Requires version 1.5 or higher.")
# The tilt command is grouped together with the thruster commands, so to avoid messing with
# the thruster setpoint while tilting we need to get the current setpoint and send it with
# the tilt command.
with self._parent_drone.motion.thruster_lock:
thruster_setpoints = self._parent_drone.motion.current_thruster_setpoints.values()
self._parent_drone._tcp_client.motion_input_tilt(*thruster_setpoints, 0, 0, speed)
@property
def angle(self) -> int:
"""Return the current angle of the camera tilt
Requires a drone with the tilt feature, and software version 1.5 or newer.
A RuntimeError is raised if either of those requirements are not met.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
if version.parse(self._parent_drone.software_version_short) < version.parse("1.5"):
raise RuntimeError("Drone software version is too old. Requires version 1.5 or higher.")
debug_flags = self._parent_drone._state_watcher.general_state["debug_flags"]
return self._tilt_angle_from_debug_flags(debug_flags)
Instance variables
angle
Requires a drone with the tilt feature, and software version 1.5 or newer. A RuntimeError is raised if either of those requirements are not met.
Methods
set_speed
def set_speed(
self,
speed: int
)
Arguments:
- speed (int): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Requires a drone with the tilt feature, and software version 1.5 or newer. A RuntimeError is raised if either of those requirements are not met.
View Source
def set_speed(self, speed: int):
"""Set the speed and direction of the camera tilt
*Arguments*:
* speed (int): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Requires a drone with the tilt feature, and software version 1.5 or newer.
A RuntimeError is raised if either of those requirements are not met.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
if version.parse(self._parent_drone.software_version_short) < version.parse("1.5"):
raise RuntimeError("Drone software version is too old. Requires version 1.5 or higher.")
# The tilt command is grouped together with the thruster commands, so to avoid messing with
# the thruster setpoint while tilting we need to get the current setpoint and send it with
# the tilt command.
with self._parent_drone.motion.thruster_lock:
thruster_setpoints = self._parent_drone.motion.current_thruster_setpoints.values()
self._parent_drone._tcp_client.motion_input_tilt(*thruster_setpoints, 0, 0, speed)