Photo format#
Photos can be taken in different formats:
rectilinear: uses a rectilinear projection, de-warped
fullFrame: uses full sensor resolution, not de-warped
large or fullFrameStabilized: uses a large projection, partially de-warped
Camera 1#
Sample code to monitor photo format:
/// Keep reference on MainCamera peripheral to get notified of changes.
private var cameraRef: Ref<MainCamera>?
/** Monitors and prints photo format. */
fun monitorPhotoFormat(drone: Drone) {
cameraRef = drone.getPeripheral(MainCamera::class.java) { camera ->
// called on main thread when the camera peripheral changes
camera?.photo()?.run {
if (supportedFormats().isEmpty()) {
// setting value is not relevant if there is no supported value
println("No supported value")
} else {
// get setting value
val format = format()
println("Current value: $format")
// updating flag
println("Updating: $isUpdating")
}
}
}
}
Example of output:
Current value: RECTILINEAR
Updating: false
Sample code to modify photo format:
/** Sets photo format. */
fun setPhotoFormat(drone: Drone, format: CameraPhoto.Format) {
drone.getPeripheral(MainCamera::class.java)?.run {
// set setting value
photo().setFormat(format)
}
}
Trying to change the setting value to an unsupported value has no effect.
Values supported by the camera are provided by CameraPhoto.Setting.supportedFormats()
.
Camera 2#
Photo mode is configured with parameter Camera.Config.PHOTO_FORMAT
.
Sample code to monitor photo format:
/** Reference on MainCamera peripheral. */
private var cameraRef: Ref<MainCamera>? = null
/** Monitors and prints photo format. */
fun monitorPhotoFormat(drone: Drone) {
cameraRef = drone.getPeripheral(MainCamera::class.java) { camera ->
// called on main thread when the camera peripheral changes
camera?.run {
// get configuration parameter
config[Camera.Config.PHOTO_FORMAT].run {
if (supportedValues(onlyCurrent = true).isEmpty()) {
// parameter value is not relevant
// if there is not supported values in current configuration
println("No supported value in current configuration")
} else {
println("Current value: $value")
}
}
}
}
}
Example of output:
Current value: RECTILINEAR
Sample code to modify photo format:
/** Sets photo format. */
fun setPhotoFormat(drone: Drone, format: Camera.PhotoFormat) {
drone.getPeripheral(MainCamera::class.java)?.run {
// create configuration editor, starting from current configuration
val editor = config.edit(fromScratch = false)
// get configuration parameter
editor[Camera.Config.PHOTO_FORMAT].let { configParam ->
// change parameter value,
// and unset other parameters conflicting with this new value
configParam.value = format
// complete configuration, by setting missing parameters values
editor.autoComplete()
// send new configuration to drone
editor.commit()
}
}
}
Trying to change the parameter value to an unsupported value has no effect.
Values supported by the camera are retrieved by calling configParam.supportedValues(onlyCurrent = false)
.