Module blueye.sdk.camera
View Source
from __future__ import annotations
import logging
import re
import warnings
from typing import TYPE_CHECKING, Optional
import blueye.protocol
import requests
# Necessary to avoid cyclic imports
if TYPE_CHECKING:
from .drone import Drone
logger = logging.getLogger(__name__)
class Tilt:
def __init__(self, parent_drone: Drone):
self._parent_drone = parent_drone
def _verify_tilt_in_features(self):
"""Checks that the connected drone has the tilt feature
Raises a RuntimeError if it does not.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
def set_velocity(self, velocity: float):
"""Set the speed and direction of the camera tilt
*Arguments*:
* velocity (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Raises a RuntimeError if the connected drone does not have the tilt option
"""
self._verify_tilt_in_features()
self._parent_drone._ctrl_client.set_tilt_velocity(velocity)
@property
def angle(self) -> Optional[float]:
"""Return the current angle of the camera tilt
Raises a RuntimeError if the connected drone does not have the tilt option
"""
self._verify_tilt_in_features()
tilt_angle_tel = self._parent_drone.telemetry.get(blueye.protocol.TiltAngleTel)
if tilt_angle_tel is not None:
return tilt_angle_tel.angle.value
else:
return None
@property
def stabilization_enabled(self) -> Optional[bool]:
"""Get or set the state of active camera stabilization
*Arguments*:
* enabled (bool): True to turn stabilization on, False to turn it off
*Returns*:
* enabled (bool): Current state of active camera stabilization
"""
self._verify_tilt_in_features()
tilt_stab_tel = self._parent_drone.telemetry.get(blueye.protocol.TiltStabilizationTel)
if tilt_stab_tel is not None:
return tilt_stab_tel.state.enabled
else:
return None
@stabilization_enabled.setter
def stabilization_enabled(self, enabled: bool):
self._verify_tilt_in_features()
self._parent_drone._ctrl_client.set_tilt_stabilization(enabled)
class Overlay:
"""Control the overlay on videos and pictures"""
def __init__(self, parent_drone: Drone):
self._parent_drone = parent_drone
self._overlay_parametres = None
def _update_overlay_parameters(self):
self._overlay_parametres = self._parent_drone._req_rep_client.get_overlay_parameters()
@property
def temperature_enabled(self) -> bool:
"""Get or set the state of the temperature overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.temperature_enabled
@temperature_enabled.setter
def temperature_enabled(self, enable_temperature: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.temperature_enabled = enable_temperature
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def depth_enabled(self) -> bool:
"""Get or set the state of the depth overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.depth_enabled
@depth_enabled.setter
def depth_enabled(self, enable_depth: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.depth_enabled = enable_depth
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def heading_enabled(self) -> bool:
"""Get or set the state of the heading overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.heading_enabled
@heading_enabled.setter
def heading_enabled(self, enable_heading: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.heading_enabled = enable_heading
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def tilt_enabled(self) -> bool:
"""Get or set the state of the tilt overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.tilt_enabled
@tilt_enabled.setter
def tilt_enabled(self, enable_tilt: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.tilt_enabled = enable_tilt
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def date_enabled(self) -> bool:
"""Get or set the state of the date overlay"""
if self._overlay_parametres is None:
self._update_overlay_parameters()
return self._overlay_parametres.date_enabled
@date_enabled.setter
def date_enabled(self, enable_date: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.date_enabled = enable_date
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def logo(self) -> blueye.protcol.LogoType:
"""Get or set logo overlay selection
Needs to be set to an instance of the `blueye.protocol.LogoType` enum, if not a
RuntimeWarning is raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.logo_type
@logo.setter
def logo(self, logo_type: blueye.protocol.LogoType):
if not isinstance(logo_type, blueye.protocol.LogoType):
warnings.warn("Invalid logo type, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.logo_type = logo_type
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def depth_unit(self) -> blueye.protocol.DepthUnit:
"""Get or set the depth unit for the overlay
Needs to be set to an instance of the `blueye.protocol.DepthUnit` enum, if not a
RuntimeWarning is raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.depth_unit
@depth_unit.setter
def depth_unit(self, unit: blueye.protocol.DepthUnit):
if not isinstance(unit, blueye.protocol.DepthUnit):
warnings.warn("Invalid depth unit, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.depth_unit = unit
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def temperature_unit(self) -> blueye.protocol.TemperatureUnit:
"""Get or set the temperature unit for the overlay
Needs to be set to an instance of the `blueye.protocol.TemperatureUnit` enum, if not a
RuntimeWarning is raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.temperature_unit
@temperature_unit.setter
def temperature_unit(self, unit: blueye.protocol.TemperatureUnit):
if not isinstance(unit, blueye.protocol.TemperatureUnit):
warnings.warn("Invalid temperature unit, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.temperature_unit = unit
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def timezone_offset(self) -> int:
"""Get or set the timezone offset for the overlay
Set to the number of minutes (either positive or negative) the timestamp should be offset.
"""
self._update_overlay_parameters()
return self._overlay_parametres.timezone_offset
@timezone_offset.setter
def timezone_offset(self, offset: int):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.timezone_offset = offset
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def margin_width(self) -> int:
"""Get or set the margin width for the overlay
The amount of pixels to use as margin on the right and left side of the overlay. Needs to
be a positive integer.
"""
self._update_overlay_parameters()
return self._overlay_parametres.margin_width
@margin_width.setter
def margin_width(self, width: int):
if width < 0:
warnings.warn("Invalid margin width, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.margin_width = width
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def margin_height(self) -> int:
"""Get or set the margin height for the overlay
The amount of pixels to use as margin on the top and bottom side of the overlay. Needs to be
a positive integer.
"""
self._update_overlay_parameters()
return self._overlay_parametres.margin_height
@margin_height.setter
def margin_height(self, height: int):
if height < 0:
warnings.warn("Invalid margin height, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.margin_height = height
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def font_size(self) -> blueye.protocol.FontSize:
"""Get or set the font size for the overlay
Needs to be an instance of the `blueye.protocol.Fontsize` enum, if not a RuntimeWarning is
raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.font_size
@font_size.setter
def font_size(self, size: blueye.protocol.FontSize):
if not isinstance(size, blueye.protocol.FontSize):
warnings.warn("Invalid font size, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.font_size = size
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def title(self) -> str:
"""Get or set the title for the overlay
The title needs to be a string of only ASCII characters with a maximum length of 63
characters. If a longer title is passed it will be truncated, and a RuntimeWarning is
raised.
Set to an empty string to disable title.
"""
self._update_overlay_parameters()
return self._overlay_parametres.title
@title.setter
def title(self, input_title: str):
new_title = input_title
if len(input_title) > 63:
warnings.warn("Too long title, truncating to 63 characters", RuntimeWarning)
new_title = new_title[:63]
try:
bytes(new_title, "ascii")
except UnicodeEncodeError:
warnings.warn("Title can only contain ASCII characters, ignoring", RuntimeWarning)
return
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.title = new_title
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def subtitle(self) -> str:
"""Get or set the subtitle for the overlay
The subtitle needs to be a string of only ASCII characters with a maximum length of 63
characters. If a longer subtitle is passed it will be truncated, and a RuntimeWarning is
raised.
Set to an empty string to disable the subtitle.
"""
self._update_overlay_parameters()
return self._overlay_parametres.subtitle
@subtitle.setter
def subtitle(self, input_subtitle: str):
new_subtitle = input_subtitle
if len(input_subtitle) > 63:
warnings.warn("Too long subtitle, truncating to 63 characters", RuntimeWarning)
new_subtitle = new_subtitle[:63]
try:
bytes(new_subtitle, "ascii")
except UnicodeEncodeError:
warnings.warn("Subtitle can only contain ASCII characters, ignoring", RuntimeWarning)
return
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.subtitle = new_subtitle
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def date_format(self) -> str:
"""Get or set the format string for the time displayed in the overlay
Must be a string containing only ASCII characters, with a max length of 63 characters.
The format codes are defined by the C89 standard, see
https://docs.python.org/3/library/datetime.html#strftime-and-strptime-format-codes
for an overview of the available codes.
"""
self._update_overlay_parameters()
return self._overlay_parametres.date_format
@date_format.setter
def date_format(self, input_format_str: str):
format_str = input_format_str
if len(format_str) > 63:
warnings.warn(
"Too long date format string, truncating to 63 characters", RuntimeWarning
)
format_str = format_str[:63]
try:
bytes(format_str, "ascii")
except UnicodeEncodeError:
warnings.warn(
"Date format string can only contain ASCII characters, ignoring", RuntimeWarning
)
return
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.date_format = format_str
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
def upload_logo(self, path_to_logo: str, timeout: float = 1.0):
"""Upload user selectable logo for watermarking videos and pictures
Set the logo-property to `blueye.protocol.LogoType.LOG_TYPE_CUSTOM` to enable this logo.
Allowed filetype: JPG or PNG.
Max resolution: 2000 px.
Max file size: 5 MB.
*Exceptions*:
* `requests.exceptions.HTTPError` : Status code 400 for invalid files
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
with open(path_to_logo, "rb") as f:
url = f"http://{self._parent_drone._ip}/asset/logo"
files = {"image": f}
response = requests.post(url, files=files, timeout=timeout)
response.raise_for_status()
def download_logo(self, output_directory=".", timeout: float = 1.0):
"""Download the original user uploaded logo (PNG or JPG)
Select the download directory with the output_directory parameter.
*Exceptions*:
* `requests.exceptions.HTTPError` : If no custom logo is uploaded.
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
response = requests.get(f"http://{self._parent_drone._ip}/asset/logo", timeout=timeout)
response.raise_for_status()
filename = re.findall('filename="(.+)"', response.headers["Content-Disposition"])[0]
with open(f"{output_directory}/{filename}", "wb") as f:
f.write(response.content)
def delete_logo(self, timeout: float = 1.0):
"""Delete the user uploaded logo from the drone
*Exceptions*:
* `requests.exceptions.HTTPError` : If an error occurs during deletion
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
response = requests.delete(f"http://{self._parent_drone._ip}/asset/logo", timeout=timeout)
response.raise_for_status()
class Camera:
def __init__(self, parent_drone: Drone, is_guestport_camera: bool = False):
self._parent_drone = parent_drone
self._is_guestport_camera = is_guestport_camera
self._camera_type = (
blueye.protocol.Camera.CAMERA_GUESTPORT
if is_guestport_camera
else blueye.protocol.Camera.CAMERA_MAIN
)
if not self._is_guestport_camera:
self.tilt = Tilt(parent_drone)
self.overlay = Overlay(parent_drone)
self._camera_parameters = None
def _get_record_state(self) -> Optional[blueye.protocol.RecordState]:
record_state_tel = self._parent_drone.telemetry.get(blueye.protocol.RecordStateTel)
if record_state_tel is not None:
return record_state_tel.record_state
else:
return None
def _update_camera_parameters(self):
self._camera_parameters = self._parent_drone._req_rep_client.get_camera_parameters(
camera=self._camera_type
)
@property
def is_recording(self) -> Optional[bool]:
"""Get or set the camera recording state
*Arguments*:
* start_recording (bool): Set to True to start a recording, set to False to stop the current
recording.
*Returns*:
* Recording state (bool): True if the camera is currently recording, False if not
"""
record_state = self._get_record_state()
if record_state is None:
return None
if self._is_guestport_camera:
return record_state.guestport_is_recording
else:
return record_state.main_is_recording
@is_recording.setter
def is_recording(self, start_recording: bool):
record_state = self._get_record_state()
if record_state is None:
logger.warning("Unable to set recording state, no record state telemetry received")
return
if self._is_guestport_camera:
self._parent_drone._ctrl_client.set_recording_state(
record_state.main_is_recording, start_recording
)
else:
self._parent_drone._ctrl_client.set_recording_state(
start_recording, record_state.guestport_is_recording
)
@property
def bitrate(self) -> int:
"""Set or get the video stream bitrate
*Arguments*:
* bitrate (int): Set the video stream bitrate in bits, valid values are in range
(1 000 000..16 000 000)
*Returns*:
* bitrate (int): The H264 video stream bitrate
"""
self._update_camera_parameters()
return self._camera_parameters.h264_bitrate
@bitrate.setter
def bitrate(self, bitrate: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.h264_bitrate = bitrate
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def bitrate_still_picture(self) -> int:
"""Set or get the bitrate for the still picture stream
*Arguments*:
* bitrate (int): Set the still picture stream bitrate in bits, valid values are in range
(1 000 000 .. 300 000 000). Default value is 100 000 000.
*Returns*:
* bitrate (int): The still picture stream bitrate
"""
self._update_camera_parameters()
return self._camera_parameters.mjpg_bitrate
@bitrate_still_picture.setter
def bitrate_still_picture(self, bitrate: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.mjpg_bitrate = bitrate
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def exposure(self) -> int:
"""Set or get the camera exposure
*Arguments*:
* exposure (int): Set the camera exposure time. Unit is thousandths of a second, ie.
5 = 5s/1000. Valid values are in the range (1 .. 5000) or -1 for auto
exposure
*Returns*:
* exposure (int): Get the camera exposure
"""
self._update_camera_parameters()
return self._camera_parameters.exposure
@exposure.setter
def exposure(self, exposure: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.exposure = exposure
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def whitebalance(self) -> int:
"""Set or get the camera white balance
*Arguments*:
* white_balance (int): Set the camera white balance. Valid values are in the range
(2800..9300) or -1 for auto white balance
*Returns*:
* white_balance (int): Get the camera white balance
"""
self._update_camera_parameters()
return self._camera_parameters.white_balance
@whitebalance.setter
def whitebalance(self, white_balance: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.white_balance = white_balance
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@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
"""
self._update_camera_parameters()
return self._camera_parameters.hue
@hue.setter
def hue(self, hue: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.hue = hue
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def resolution(self) -> int:
"""Set or get the camera resolution
*Arguments*:
* resolution (int): Set the camera in vertical pixels. Valid values are 720 or 1080
*Returns*:
* resolution (int): Get the camera resolution
"""
self._update_camera_parameters()
if self._camera_parameters.resolution == blueye.protocol.Resolution.RESOLUTION_HD_720P:
return 720
elif (
self._camera_parameters.resolution == blueye.protocol.Resolution.RESOLUTION_FULLHD_1080P
):
return 1080
@resolution.setter
def resolution(self, resolution: int):
if resolution not in (720, 1080):
raise ValueError(
f"{resolution} is not a valid resolution. Valid values are 720 or 1080"
)
if self._camera_parameters is None:
self._update_camera_parameters()
if resolution == 720:
self._camera_parameters.resolution = blueye.protocol.Resolution.RESOLUTION_HD_720P
elif resolution == 1080:
self._camera_parameters.resolution = blueye.protocol.Resolution.RESOLUTION_FULLHD_1080P
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@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
"""
self._update_camera_parameters()
if self._camera_parameters.framerate == blueye.protocol.Framerate.FRAMERATE_FPS_25:
return 25
elif self._camera_parameters.framerate == blueye.protocol.Framerate.FRAMERATE_FPS_30:
return 30
@framerate.setter
def framerate(self, framerate: int):
if framerate not in (25, 30):
raise ValueError(f"{framerate} is not a valid framerate. Valid values are 25 or 30")
if self._camera_parameters is None:
self._update_camera_parameters()
if framerate == 25:
self._camera_parameters.framerate = blueye.protocol.Framerate.FRAMERATE_FPS_25
elif framerate == 30:
self._camera_parameters.framerate = blueye.protocol.Framerate.FRAMERATE_FPS_30
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def record_time(self) -> Optional[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
"""
record_state = self._get_record_state()
if record_state is None:
return None
if self._is_guestport_camera:
return record_state.guestport_seconds
else:
return record_state.main_seconds
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.
"""
self._parent_drone._ctrl_client.take_still_picture()
Variables
TYPE_CHECKING
logger
Classes
Camera
class Camera(
parent_drone: 'Drone',
is_guestport_camera: 'bool' = False
)
View Source
class Camera:
def __init__(self, parent_drone: Drone, is_guestport_camera: bool = False):
self._parent_drone = parent_drone
self._is_guestport_camera = is_guestport_camera
self._camera_type = (
blueye.protocol.Camera.CAMERA_GUESTPORT
if is_guestport_camera
else blueye.protocol.Camera.CAMERA_MAIN
)
if not self._is_guestport_camera:
self.tilt = Tilt(parent_drone)
self.overlay = Overlay(parent_drone)
self._camera_parameters = None
def _get_record_state(self) -> Optional[blueye.protocol.RecordState]:
record_state_tel = self._parent_drone.telemetry.get(blueye.protocol.RecordStateTel)
if record_state_tel is not None:
return record_state_tel.record_state
else:
return None
def _update_camera_parameters(self):
self._camera_parameters = self._parent_drone._req_rep_client.get_camera_parameters(
camera=self._camera_type
)
@property
def is_recording(self) -> Optional[bool]:
"""Get or set the camera recording state
*Arguments*:
* start_recording (bool): Set to True to start a recording, set to False to stop the current
recording.
*Returns*:
* Recording state (bool): True if the camera is currently recording, False if not
"""
record_state = self._get_record_state()
if record_state is None:
return None
if self._is_guestport_camera:
return record_state.guestport_is_recording
else:
return record_state.main_is_recording
@is_recording.setter
def is_recording(self, start_recording: bool):
record_state = self._get_record_state()
if record_state is None:
logger.warning("Unable to set recording state, no record state telemetry received")
return
if self._is_guestport_camera:
self._parent_drone._ctrl_client.set_recording_state(
record_state.main_is_recording, start_recording
)
else:
self._parent_drone._ctrl_client.set_recording_state(
start_recording, record_state.guestport_is_recording
)
@property
def bitrate(self) -> int:
"""Set or get the video stream bitrate
*Arguments*:
* bitrate (int): Set the video stream bitrate in bits, valid values are in range
(1 000 000..16 000 000)
*Returns*:
* bitrate (int): The H264 video stream bitrate
"""
self._update_camera_parameters()
return self._camera_parameters.h264_bitrate
@bitrate.setter
def bitrate(self, bitrate: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.h264_bitrate = bitrate
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def bitrate_still_picture(self) -> int:
"""Set or get the bitrate for the still picture stream
*Arguments*:
* bitrate (int): Set the still picture stream bitrate in bits, valid values are in range
(1 000 000 .. 300 000 000). Default value is 100 000 000.
*Returns*:
* bitrate (int): The still picture stream bitrate
"""
self._update_camera_parameters()
return self._camera_parameters.mjpg_bitrate
@bitrate_still_picture.setter
def bitrate_still_picture(self, bitrate: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.mjpg_bitrate = bitrate
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def exposure(self) -> int:
"""Set or get the camera exposure
*Arguments*:
* exposure (int): Set the camera exposure time. Unit is thousandths of a second, ie.
5 = 5s/1000. Valid values are in the range (1 .. 5000) or -1 for auto
exposure
*Returns*:
* exposure (int): Get the camera exposure
"""
self._update_camera_parameters()
return self._camera_parameters.exposure
@exposure.setter
def exposure(self, exposure: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.exposure = exposure
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def whitebalance(self) -> int:
"""Set or get the camera white balance
*Arguments*:
* white_balance (int): Set the camera white balance. Valid values are in the range
(2800..9300) or -1 for auto white balance
*Returns*:
* white_balance (int): Get the camera white balance
"""
self._update_camera_parameters()
return self._camera_parameters.white_balance
@whitebalance.setter
def whitebalance(self, white_balance: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.white_balance = white_balance
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@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
"""
self._update_camera_parameters()
return self._camera_parameters.hue
@hue.setter
def hue(self, hue: int):
if self._camera_parameters is None:
self._update_camera_parameters()
self._camera_parameters.hue = hue
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def resolution(self) -> int:
"""Set or get the camera resolution
*Arguments*:
* resolution (int): Set the camera in vertical pixels. Valid values are 720 or 1080
*Returns*:
* resolution (int): Get the camera resolution
"""
self._update_camera_parameters()
if self._camera_parameters.resolution == blueye.protocol.Resolution.RESOLUTION_HD_720P:
return 720
elif (
self._camera_parameters.resolution == blueye.protocol.Resolution.RESOLUTION_FULLHD_1080P
):
return 1080
@resolution.setter
def resolution(self, resolution: int):
if resolution not in (720, 1080):
raise ValueError(
f"{resolution} is not a valid resolution. Valid values are 720 or 1080"
)
if self._camera_parameters is None:
self._update_camera_parameters()
if resolution == 720:
self._camera_parameters.resolution = blueye.protocol.Resolution.RESOLUTION_HD_720P
elif resolution == 1080:
self._camera_parameters.resolution = blueye.protocol.Resolution.RESOLUTION_FULLHD_1080P
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@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
"""
self._update_camera_parameters()
if self._camera_parameters.framerate == blueye.protocol.Framerate.FRAMERATE_FPS_25:
return 25
elif self._camera_parameters.framerate == blueye.protocol.Framerate.FRAMERATE_FPS_30:
return 30
@framerate.setter
def framerate(self, framerate: int):
if framerate not in (25, 30):
raise ValueError(f"{framerate} is not a valid framerate. Valid values are 25 or 30")
if self._camera_parameters is None:
self._update_camera_parameters()
if framerate == 25:
self._camera_parameters.framerate = blueye.protocol.Framerate.FRAMERATE_FPS_25
elif framerate == 30:
self._camera_parameters.framerate = blueye.protocol.Framerate.FRAMERATE_FPS_30
self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)
@property
def record_time(self) -> Optional[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
"""
record_state = self._get_record_state()
if record_state is None:
return None
if self._is_guestport_camera:
return record_state.guestport_seconds
else:
return record_state.main_seconds
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.
"""
self._parent_drone._ctrl_client.take_still_picture()
Descendants
- blueye.sdk.guestport.GuestPortCamera
Instance variables
bitrate
Set or get the video stream bitrate
Arguments:
- bitrate (int): Set the video stream bitrate in bits, valid values are in range (1 000 000..16 000 000)
Returns:
- bitrate (int): The H264 video stream bitrate
bitrate_still_picture
Set or get the bitrate for the still picture stream
Arguments:
- bitrate (int): Set the still picture stream bitrate in bits, valid values are in range (1 000 000 .. 300 000 000). Default value is 100 000 000.
Returns:
- bitrate (int): The still picture stream bitrate
exposure
Set or get the camera exposure
Arguments:
- exposure (int): Set the camera exposure time. Unit is thousandths of a second, ie. 5 = 5s/1000. Valid values are in the range (1 .. 5000) or -1 for auto exposure
Returns:
- exposure (int): Get the camera exposure
framerate
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
hue
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
is_recording
Get or set the camera recording state
Arguments:
- start_recording (bool): Set to True to start a recording, set to False to stop the current recording.
Returns:
- Recording state (bool): True if the camera is currently recording, False if not
record_time
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
resolution
Set or get the camera resolution
Arguments:
- resolution (int): Set the camera in vertical pixels. Valid values are 720 or 1080
Returns:
- resolution (int): Get the camera resolution
whitebalance
Set or get the camera white balance
Arguments:
- white_balance (int): Set the camera white balance. Valid values are in the range (2800..9300) or -1 for auto white balance
Returns:
- white_balance (int): Get the camera white balance
Methods
take_picture
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.
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.
"""
self._parent_drone._ctrl_client.take_still_picture()
Overlay
class Overlay(
parent_drone: 'Drone'
)
Control the overlay on videos and pictures
View Source
class Overlay:
"""Control the overlay on videos and pictures"""
def __init__(self, parent_drone: Drone):
self._parent_drone = parent_drone
self._overlay_parametres = None
def _update_overlay_parameters(self):
self._overlay_parametres = self._parent_drone._req_rep_client.get_overlay_parameters()
@property
def temperature_enabled(self) -> bool:
"""Get or set the state of the temperature overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.temperature_enabled
@temperature_enabled.setter
def temperature_enabled(self, enable_temperature: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.temperature_enabled = enable_temperature
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def depth_enabled(self) -> bool:
"""Get or set the state of the depth overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.depth_enabled
@depth_enabled.setter
def depth_enabled(self, enable_depth: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.depth_enabled = enable_depth
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def heading_enabled(self) -> bool:
"""Get or set the state of the heading overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.heading_enabled
@heading_enabled.setter
def heading_enabled(self, enable_heading: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.heading_enabled = enable_heading
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def tilt_enabled(self) -> bool:
"""Get or set the state of the tilt overlay"""
self._update_overlay_parameters()
return self._overlay_parametres.tilt_enabled
@tilt_enabled.setter
def tilt_enabled(self, enable_tilt: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.tilt_enabled = enable_tilt
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def date_enabled(self) -> bool:
"""Get or set the state of the date overlay"""
if self._overlay_parametres is None:
self._update_overlay_parameters()
return self._overlay_parametres.date_enabled
@date_enabled.setter
def date_enabled(self, enable_date: bool):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.date_enabled = enable_date
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def logo(self) -> blueye.protcol.LogoType:
"""Get or set logo overlay selection
Needs to be set to an instance of the `blueye.protocol.LogoType` enum, if not a
RuntimeWarning is raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.logo_type
@logo.setter
def logo(self, logo_type: blueye.protocol.LogoType):
if not isinstance(logo_type, blueye.protocol.LogoType):
warnings.warn("Invalid logo type, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.logo_type = logo_type
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def depth_unit(self) -> blueye.protocol.DepthUnit:
"""Get or set the depth unit for the overlay
Needs to be set to an instance of the `blueye.protocol.DepthUnit` enum, if not a
RuntimeWarning is raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.depth_unit
@depth_unit.setter
def depth_unit(self, unit: blueye.protocol.DepthUnit):
if not isinstance(unit, blueye.protocol.DepthUnit):
warnings.warn("Invalid depth unit, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.depth_unit = unit
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def temperature_unit(self) -> blueye.protocol.TemperatureUnit:
"""Get or set the temperature unit for the overlay
Needs to be set to an instance of the `blueye.protocol.TemperatureUnit` enum, if not a
RuntimeWarning is raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.temperature_unit
@temperature_unit.setter
def temperature_unit(self, unit: blueye.protocol.TemperatureUnit):
if not isinstance(unit, blueye.protocol.TemperatureUnit):
warnings.warn("Invalid temperature unit, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.temperature_unit = unit
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def timezone_offset(self) -> int:
"""Get or set the timezone offset for the overlay
Set to the number of minutes (either positive or negative) the timestamp should be offset.
"""
self._update_overlay_parameters()
return self._overlay_parametres.timezone_offset
@timezone_offset.setter
def timezone_offset(self, offset: int):
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.timezone_offset = offset
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def margin_width(self) -> int:
"""Get or set the margin width for the overlay
The amount of pixels to use as margin on the right and left side of the overlay. Needs to
be a positive integer.
"""
self._update_overlay_parameters()
return self._overlay_parametres.margin_width
@margin_width.setter
def margin_width(self, width: int):
if width < 0:
warnings.warn("Invalid margin width, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.margin_width = width
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def margin_height(self) -> int:
"""Get or set the margin height for the overlay
The amount of pixels to use as margin on the top and bottom side of the overlay. Needs to be
a positive integer.
"""
self._update_overlay_parameters()
return self._overlay_parametres.margin_height
@margin_height.setter
def margin_height(self, height: int):
if height < 0:
warnings.warn("Invalid margin height, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.margin_height = height
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def font_size(self) -> blueye.protocol.FontSize:
"""Get or set the font size for the overlay
Needs to be an instance of the `blueye.protocol.Fontsize` enum, if not a RuntimeWarning is
raised.
"""
self._update_overlay_parameters()
return self._overlay_parametres.font_size
@font_size.setter
def font_size(self, size: blueye.protocol.FontSize):
if not isinstance(size, blueye.protocol.FontSize):
warnings.warn("Invalid font size, ignoring", RuntimeWarning)
else:
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.font_size = size
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def title(self) -> str:
"""Get or set the title for the overlay
The title needs to be a string of only ASCII characters with a maximum length of 63
characters. If a longer title is passed it will be truncated, and a RuntimeWarning is
raised.
Set to an empty string to disable title.
"""
self._update_overlay_parameters()
return self._overlay_parametres.title
@title.setter
def title(self, input_title: str):
new_title = input_title
if len(input_title) > 63:
warnings.warn("Too long title, truncating to 63 characters", RuntimeWarning)
new_title = new_title[:63]
try:
bytes(new_title, "ascii")
except UnicodeEncodeError:
warnings.warn("Title can only contain ASCII characters, ignoring", RuntimeWarning)
return
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.title = new_title
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def subtitle(self) -> str:
"""Get or set the subtitle for the overlay
The subtitle needs to be a string of only ASCII characters with a maximum length of 63
characters. If a longer subtitle is passed it will be truncated, and a RuntimeWarning is
raised.
Set to an empty string to disable the subtitle.
"""
self._update_overlay_parameters()
return self._overlay_parametres.subtitle
@subtitle.setter
def subtitle(self, input_subtitle: str):
new_subtitle = input_subtitle
if len(input_subtitle) > 63:
warnings.warn("Too long subtitle, truncating to 63 characters", RuntimeWarning)
new_subtitle = new_subtitle[:63]
try:
bytes(new_subtitle, "ascii")
except UnicodeEncodeError:
warnings.warn("Subtitle can only contain ASCII characters, ignoring", RuntimeWarning)
return
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.subtitle = new_subtitle
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
@property
def date_format(self) -> str:
"""Get or set the format string for the time displayed in the overlay
Must be a string containing only ASCII characters, with a max length of 63 characters.
The format codes are defined by the C89 standard, see
https://docs.python.org/3/library/datetime.html#strftime-and-strptime-format-codes
for an overview of the available codes.
"""
self._update_overlay_parameters()
return self._overlay_parametres.date_format
@date_format.setter
def date_format(self, input_format_str: str):
format_str = input_format_str
if len(format_str) > 63:
warnings.warn(
"Too long date format string, truncating to 63 characters", RuntimeWarning
)
format_str = format_str[:63]
try:
bytes(format_str, "ascii")
except UnicodeEncodeError:
warnings.warn(
"Date format string can only contain ASCII characters, ignoring", RuntimeWarning
)
return
if self._overlay_parametres is None:
self._update_overlay_parameters()
self._overlay_parametres.date_format = format_str
self._parent_drone._req_rep_client.set_overlay_parameters(self._overlay_parametres)
def upload_logo(self, path_to_logo: str, timeout: float = 1.0):
"""Upload user selectable logo for watermarking videos and pictures
Set the logo-property to `blueye.protocol.LogoType.LOG_TYPE_CUSTOM` to enable this logo.
Allowed filetype: JPG or PNG.
Max resolution: 2000 px.
Max file size: 5 MB.
*Exceptions*:
* `requests.exceptions.HTTPError` : Status code 400 for invalid files
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
with open(path_to_logo, "rb") as f:
url = f"http://{self._parent_drone._ip}/asset/logo"
files = {"image": f}
response = requests.post(url, files=files, timeout=timeout)
response.raise_for_status()
def download_logo(self, output_directory=".", timeout: float = 1.0):
"""Download the original user uploaded logo (PNG or JPG)
Select the download directory with the output_directory parameter.
*Exceptions*:
* `requests.exceptions.HTTPError` : If no custom logo is uploaded.
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
response = requests.get(f"http://{self._parent_drone._ip}/asset/logo", timeout=timeout)
response.raise_for_status()
filename = re.findall('filename="(.+)"', response.headers["Content-Disposition"])[0]
with open(f"{output_directory}/{filename}", "wb") as f:
f.write(response.content)
def delete_logo(self, timeout: float = 1.0):
"""Delete the user uploaded logo from the drone
*Exceptions*:
* `requests.exceptions.HTTPError` : If an error occurs during deletion
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
response = requests.delete(f"http://{self._parent_drone._ip}/asset/logo", timeout=timeout)
response.raise_for_status()
Instance variables
date_enabled
Get or set the state of the date overlay
date_format
Get or set the format string for the time displayed in the overlay
Must be a string containing only ASCII characters, with a max length of 63 characters.
The format codes are defined by the C89 standard, see https://docs.python.org/3/library/datetime.html#strftime-and-strptime-format-codes for an overview of the available codes.
depth_enabled
Get or set the state of the depth overlay
depth_unit
Get or set the depth unit for the overlay
Needs to be set to an instance of the blueye.protocol.DepthUnit enum, if not a
RuntimeWarning is raised.
font_size
Get or set the font size for the overlay
Needs to be an instance of the blueye.protocol.Fontsize enum, if not a RuntimeWarning is
raised.
heading_enabled
Get or set the state of the heading overlay
logo
Get or set logo overlay selection
Needs to be set to an instance of the blueye.protocol.LogoType enum, if not a
RuntimeWarning is raised.
margin_height
Get or set the margin height for the overlay
The amount of pixels to use as margin on the top and bottom side of the overlay. Needs to be a positive integer.
margin_width
Get or set the margin width for the overlay
The amount of pixels to use as margin on the right and left side of the overlay. Needs to be a positive integer.
subtitle
Get or set the subtitle for the overlay
The subtitle needs to be a string of only ASCII characters with a maximum length of 63 characters. If a longer subtitle is passed it will be truncated, and a RuntimeWarning is raised.
Set to an empty string to disable the subtitle.
temperature_enabled
Get or set the state of the temperature overlay
temperature_unit
Get or set the temperature unit for the overlay
Needs to be set to an instance of the blueye.protocol.TemperatureUnit enum, if not a
RuntimeWarning is raised.
tilt_enabled
Get or set the state of the tilt overlay
timezone_offset
Get or set the timezone offset for the overlay
Set to the number of minutes (either positive or negative) the timestamp should be offset.
title
Get or set the title for the overlay
The title needs to be a string of only ASCII characters with a maximum length of 63 characters. If a longer title is passed it will be truncated, and a RuntimeWarning is raised.
Set to an empty string to disable title.
Methods
delete_logo
def delete_logo(
self,
timeout: 'float' = 1.0
)
Delete the user uploaded logo from the drone
Exceptions:
-
requests.exceptions.HTTPError: If an error occurs during deletion -
requests.exceptions.ConnectTimeout: If unable to create a connection within specified timeout (default 1s)
View Source
def delete_logo(self, timeout: float = 1.0):
"""Delete the user uploaded logo from the drone
*Exceptions*:
* `requests.exceptions.HTTPError` : If an error occurs during deletion
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
response = requests.delete(f"http://{self._parent_drone._ip}/asset/logo", timeout=timeout)
response.raise_for_status()
download_logo
def download_logo(
self,
output_directory='.',
timeout: 'float' = 1.0
)
Download the original user uploaded logo (PNG or JPG)
Select the download directory with the output_directory parameter.
Exceptions:
-
requests.exceptions.HTTPError: If no custom logo is uploaded. -
requests.exceptions.ConnectTimeout: If unable to create a connection within specified timeout (default 1s)
View Source
def download_logo(self, output_directory=".", timeout: float = 1.0):
"""Download the original user uploaded logo (PNG or JPG)
Select the download directory with the output_directory parameter.
*Exceptions*:
* `requests.exceptions.HTTPError` : If no custom logo is uploaded.
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
response = requests.get(f"http://{self._parent_drone._ip}/asset/logo", timeout=timeout)
response.raise_for_status()
filename = re.findall('filename="(.+)"', response.headers["Content-Disposition"])[0]
with open(f"{output_directory}/{filename}", "wb") as f:
f.write(response.content)
upload_logo
def upload_logo(
self,
path_to_logo: 'str',
timeout: 'float' = 1.0
)
Upload user selectable logo for watermarking videos and pictures
Set the logo-property to blueye.protocol.LogoType.LOG_TYPE_CUSTOM to enable this logo.
Allowed filetype: JPG or PNG. Max resolution: 2000 px. Max file size: 5 MB.
Exceptions:
-
requests.exceptions.HTTPError: Status code 400 for invalid files -
requests.exceptions.ConnectTimeout: If unable to create a connection within specified timeout (default 1s)
View Source
def upload_logo(self, path_to_logo: str, timeout: float = 1.0):
"""Upload user selectable logo for watermarking videos and pictures
Set the logo-property to `blueye.protocol.LogoType.LOG_TYPE_CUSTOM` to enable this logo.
Allowed filetype: JPG or PNG.
Max resolution: 2000 px.
Max file size: 5 MB.
*Exceptions*:
* `requests.exceptions.HTTPError` : Status code 400 for invalid files
* `requests.exceptions.ConnectTimeout` : If unable to create a connection within specified
timeout (default 1s)
"""
with open(path_to_logo, "rb") as f:
url = f"http://{self._parent_drone._ip}/asset/logo"
files = {"image": f}
response = requests.post(url, files=files, timeout=timeout)
response.raise_for_status()
Tilt
class Tilt(
parent_drone: 'Drone'
)
View Source
class Tilt:
def __init__(self, parent_drone: Drone):
self._parent_drone = parent_drone
def _verify_tilt_in_features(self):
"""Checks that the connected drone has the tilt feature
Raises a RuntimeError if it does not.
"""
if "tilt" not in self._parent_drone.features:
raise RuntimeError("The connected drone does not support tilting the camera.")
def set_velocity(self, velocity: float):
"""Set the speed and direction of the camera tilt
*Arguments*:
* velocity (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Raises a RuntimeError if the connected drone does not have the tilt option
"""
self._verify_tilt_in_features()
self._parent_drone._ctrl_client.set_tilt_velocity(velocity)
@property
def angle(self) -> Optional[float]:
"""Return the current angle of the camera tilt
Raises a RuntimeError if the connected drone does not have the tilt option
"""
self._verify_tilt_in_features()
tilt_angle_tel = self._parent_drone.telemetry.get(blueye.protocol.TiltAngleTel)
if tilt_angle_tel is not None:
return tilt_angle_tel.angle.value
else:
return None
@property
def stabilization_enabled(self) -> Optional[bool]:
"""Get or set the state of active camera stabilization
*Arguments*:
* enabled (bool): True to turn stabilization on, False to turn it off
*Returns*:
* enabled (bool): Current state of active camera stabilization
"""
self._verify_tilt_in_features()
tilt_stab_tel = self._parent_drone.telemetry.get(blueye.protocol.TiltStabilizationTel)
if tilt_stab_tel is not None:
return tilt_stab_tel.state.enabled
else:
return None
@stabilization_enabled.setter
def stabilization_enabled(self, enabled: bool):
self._verify_tilt_in_features()
self._parent_drone._ctrl_client.set_tilt_stabilization(enabled)
Instance variables
angle
Return the current angle of the camera tilt
Raises a RuntimeError if the connected drone does not have the tilt option
stabilization_enabled
Get or set the state of active camera stabilization
Arguments:
- enabled (bool): True to turn stabilization on, False to turn it off
Returns:
- enabled (bool): Current state of active camera stabilization
Methods
set_velocity
def set_velocity(
self,
velocity: 'float'
)
Set the speed and direction of the camera tilt
Arguments:
- velocity (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Raises a RuntimeError if the connected drone does not have the tilt option
View Source
def set_velocity(self, velocity: float):
"""Set the speed and direction of the camera tilt
*Arguments*:
* velocity (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.
Raises a RuntimeError if the connected drone does not have the tilt option
"""
self._verify_tilt_in_features()
self._parent_drone._ctrl_client.set_tilt_velocity(velocity)