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Camera Class Reference
Camera
public class CameraCan be used to manage cameras that implement the MAVLink Camera Protocol: https://mavlink.io/en/protocol/camera.html.
Currently only a single camera is supported.
When multiple cameras are supported the plugin will need to be
instantiated separately for every camera and the camera selected using
select_camera.
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Initializes a new
Cameraplugin.Normally never created manually, but used from the
Dronehelper class instead.Declaration
Swift
public convenience init(address: String = "localhost", port: Int32 = 50051, scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background))Parameters
addressThe address of the
MavsdkServerinstance to connect toportThe port of the
MavsdkServerinstance to connect toschedulerThe scheduler to be used by
Observables -
Undocumented
See moreDeclaration
Swift
public struct RuntimeCameraError : Error -
Undocumented
See moreDeclaration
Swift
public struct CameraError : Error -
Camera mode type.
See moreDeclaration
Swift
public enum Mode : Equatable -
Photos range type.
See moreDeclaration
Swift
public enum PhotosRange : Equatable -
Result type.
See moreDeclaration
Swift
public struct CameraResult : Equatable -
Position type in global coordinates.
See moreDeclaration
Swift
public struct Position : Equatable -
Quaternion type.
All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
For more info see: https://en.wikipedia.org/wiki/Quaternion
See moreDeclaration
Swift
public struct Quaternion : Equatable -
Euler angle type.
All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.
For more info see https://en.wikipedia.org/wiki/Euler_angles
See moreDeclaration
Swift
public struct EulerAngle : Equatable -
Information about a picture just captured.
See moreDeclaration
Swift
public struct CaptureInfo : Equatable -
Type for video stream settings.
See moreDeclaration
Swift
public struct VideoStreamSettings : Equatable -
Information about the video stream.
See moreDeclaration
Swift
public struct VideoStreamInfo : Equatable -
Information about the camera status.
See moreDeclaration
Swift
public struct Status : Equatable -
Type to represent a setting option.
See moreDeclaration
Swift
public struct Option : Equatable -
Type to represent a setting with a selected option.
See moreDeclaration
Swift
public struct Setting : Equatable -
Type to represent a setting with a list of options to choose from.
See moreDeclaration
Swift
public struct SettingOptions : Equatable -
Type to represent a camera information.
See moreDeclaration
Swift
public struct Information : Equatable -
Prepare the camera plugin (e.g. download the camera definition, etc).
Declaration
Swift
public func prepare() -> Completable -
Take one photo.
Declaration
Swift
public func takePhoto() -> Completable -
Start photo timelapse with a given interval.
Declaration
Swift
public func startPhotoInterval(intervalS: Float) -> CompletableParameters
intervalSInterval between photos (in seconds)
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Stop a running photo timelapse.
Declaration
Swift
public func stopPhotoInterval() -> Completable -
Start a video recording.
Declaration
Swift
public func startVideo() -> Completable -
Stop a running video recording.
Declaration
Swift
public func stopVideo() -> Completable -
Start video streaming.
Declaration
Swift
public func startVideoStreaming() -> Completable -
Stop current video streaming.
Declaration
Swift
public func stopVideoStreaming() -> Completable -
Set camera mode.
Declaration
Swift
public func setMode(mode: Mode) -> CompletableParameters
modeCamera mode to set
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List photos available on the camera.
Declaration
Swift
public func listPhotos(photosRange: PhotosRange) -> Single<[CaptureInfo]>Parameters
photosRangeWhich photos should be listed (all or since connection)
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Subscribe to camera mode updates.
Declaration
Swift
public lazy var mode: Observable<Mode> { get set } -
Subscribe to camera information updates.
Declaration
Swift
public lazy var information: Observable<Information> { get set } -
Subscribe to video stream info updates.
Declaration
Swift
public lazy var videoStreamInfo: Observable<VideoStreamInfo> { get set } -
Subscribe to capture info updates.
Declaration
Swift
public lazy var captureInfo: Observable<CaptureInfo> { get set } -
Subscribe to camera status updates.
Declaration
Swift
public lazy var status: Observable<Status> { get set } -
Get the list of current camera settings.
Declaration
Swift
public lazy var currentSettings: Observable<[Setting]> { get set } -
Get the list of settings that can be changed.
Declaration
Swift
public lazy var possibleSettingOptions: Observable<[SettingOptions]> { get set } -
Set a setting to some value.
Only setting_id of setting and option_id of option needs to be set.
Declaration
Swift
public func setSetting(setting: Setting) -> CompletableParameters
settingDesired setting
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Get a setting.
Only setting_id of setting needs to be set.
Parameters
settingRequested setting
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Format storage (e.g. SD card) in camera.
This will delete all content of the camera storage!
Declaration
Swift
public func formatStorage() -> Completable -
Select current camera .
Bind the plugin instance to a specific camera_id
Declaration
Swift
public func selectCamera(cameraID: Int32) -> CompletableParameters
cameraIDId of camera to be selected