mavsdk::Camera Class Reference

#include: camera.h

Can 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.

Data Structures

struct CaptureInfo

struct EulerAngle

struct Information

struct Option

struct Position

struct Quaternion

struct Setting

struct SettingOptions

struct Status

struct VideoStreamInfo

struct VideoStreamSettings

Public Types

Public Member Functions

Constructor & Destructor Documentation

Camera()

mavsdk::Camera::Camera(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto camera = Camera(system);

Parameters

• System& system - The specific system associated with this plugin.

Camera()

mavsdk::Camera::Camera(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto camera = Camera(system);

Parameters

• std::shared_ptr< System > system - The specific system associated with this plugin.

~Camera()

mavsdk::Camera::~Camera() override

Destructor (internal use only).

Camera()

mavsdk::Camera::Camera(const Camera &other)

Copy constructor.

Parameters

• const Camera& other -

Member Typdef Documentation

typedef ResultCallback

using mavsdk::Camera::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous Camera calls.

typedef ListPhotosCallback

using mavsdk::Camera::ListPhotosCallback =  std::function<void(Result, std::vector<CaptureInfo>)>

Callback type for list_photos_async.

typedef ModeCallback

using mavsdk::Camera::ModeCallback =  std::function<void(Mode)>

Callback type for subscribe_mode.

typedef ModeHandle

using mavsdk::Camera::ModeHandle =  Handle<Mode>

Handle type for subscribe_mode.

typedef InformationCallback

using mavsdk::Camera::InformationCallback =  std::function<void(Information)>

Callback type for subscribe_information.

typedef InformationHandle

using mavsdk::Camera::InformationHandle =  Handle<Information>

Handle type for subscribe_information.

typedef VideoStreamInfoCallback

using mavsdk::Camera::VideoStreamInfoCallback =  std::function<void(VideoStreamInfo)>

Callback type for subscribe_video_stream_info.

typedef VideoStreamInfoHandle

using mavsdk::Camera::VideoStreamInfoHandle =  Handle<VideoStreamInfo>

Handle type for subscribe_video_stream_info.

typedef CaptureInfoCallback

using mavsdk::Camera::CaptureInfoCallback =  std::function<void(CaptureInfo)>

Callback type for subscribe_capture_info.

typedef CaptureInfoHandle

using mavsdk::Camera::CaptureInfoHandle =  Handle<CaptureInfo>

Handle type for subscribe_capture_info.

typedef StatusCallback

using mavsdk::Camera::StatusCallback =  std::function<void(Status)>

Callback type for subscribe_status.

typedef StatusHandle

using mavsdk::Camera::StatusHandle =  Handle<Status>

Handle type for subscribe_status.

typedef CurrentSettingsCallback

using mavsdk::Camera::CurrentSettingsCallback =  std::function<void(std::vector<Setting>)>

Callback type for subscribe_current_settings.

typedef CurrentSettingsHandle

using mavsdk::Camera::CurrentSettingsHandle =  Handle<std::vector<Setting> >

Handle type for subscribe_current_settings.

typedef PossibleSettingOptionsCallback

using mavsdk::Camera::PossibleSettingOptionsCallback =  std::function<void(std::vector<SettingOptions>)>

Callback type for subscribe_possible_setting_options.

typedef PossibleSettingOptionsHandle

using mavsdk::Camera::PossibleSettingOptionsHandle =  Handle<std::vector<SettingOptions> >

Handle type for subscribe_possible_setting_options.

typedef GetSettingCallback

using mavsdk::Camera::GetSettingCallback =  std::function<void(Result, Setting)>

Callback type for get_setting_async.

Member Enumeration Documentation

enum Mode

Camera mode type.

enum PhotosRange

Photos range type.

enum Result

Possible results returned for camera commands.

Member Function Documentation

prepare_async()

void mavsdk::Camera::prepare_async(const ResultCallback callback)

Prepare the camera plugin (e.g. download the camera definition, etc).

This function is non-blocking. See 'prepare' for the blocking counterpart.

Parameters

• const ResultCallback callback -

prepare()

Result mavsdk::Camera::prepare() const

Prepare the camera plugin (e.g. download the camera definition, etc).

This function is blocking. See 'prepare_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

take_photo_async()

void mavsdk::Camera::take_photo_async(const ResultCallback callback)

Take one photo.

This function is non-blocking. See 'take_photo' for the blocking counterpart.

Parameters

• const ResultCallback callback -

take_photo()

Result mavsdk::Camera::take_photo() const

Take one photo.

This function is blocking. See 'take_photo_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

start_photo_interval_async()

void mavsdk::Camera::start_photo_interval_async(float interval_s, const ResultCallback callback)

Start photo timelapse with a given interval.

This function is non-blocking. See 'start_photo_interval' for the blocking counterpart.

Parameters

• float interval_s -
• const ResultCallback callback -

start_photo_interval()

Result mavsdk::Camera::start_photo_interval(float interval_s) const

Start photo timelapse with a given interval.

This function is blocking. See 'start_photo_interval_async' for the non-blocking counterpart.

Parameters

• float interval_s -

Returns

 Result - Result of request.

stop_photo_interval_async()

void mavsdk::Camera::stop_photo_interval_async(const ResultCallback callback)

Stop a running photo timelapse.

This function is non-blocking. See 'stop_photo_interval' for the blocking counterpart.

Parameters

• const ResultCallback callback -

stop_photo_interval()

Result mavsdk::Camera::stop_photo_interval() const

Stop a running photo timelapse.

This function is blocking. See 'stop_photo_interval_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

start_video_async()

void mavsdk::Camera::start_video_async(const ResultCallback callback)

Start a video recording.

This function is non-blocking. See 'start_video' for the blocking counterpart.

Parameters

• const ResultCallback callback -

start_video()

Result mavsdk::Camera::start_video() const

Start a video recording.

This function is blocking. See 'start_video_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

stop_video_async()

void mavsdk::Camera::stop_video_async(const ResultCallback callback)

Stop a running video recording.

This function is non-blocking. See 'stop_video' for the blocking counterpart.

Parameters

• const ResultCallback callback -

stop_video()

Result mavsdk::Camera::stop_video() const

Stop a running video recording.

This function is blocking. See 'stop_video_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

start_video_streaming()

Result mavsdk::Camera::start_video_streaming(int32_t stream_id) const

Start video streaming.

This function is blocking.

Parameters

• int32_t stream_id -

Returns

 Result - Result of request.

stop_video_streaming()

Result mavsdk::Camera::stop_video_streaming(int32_t stream_id) const

Stop current video streaming.

This function is blocking.

Parameters

• int32_t stream_id -

Returns

 Result - Result of request.

set_mode_async()

void mavsdk::Camera::set_mode_async(Mode mode, const ResultCallback callback)

Set camera mode.

This function is non-blocking. See 'set_mode' for the blocking counterpart.

Parameters

• Mode mode -
• const ResultCallback callback -

set_mode()

Result mavsdk::Camera::set_mode(Mode mode) const

Set camera mode.

This function is blocking. See 'set_mode_async' for the non-blocking counterpart.

Parameters

• Mode mode -

Returns

 Result - Result of request.

list_photos_async()

void mavsdk::Camera::list_photos_async(PhotosRange photos_range, const ListPhotosCallback callback)

List photos available on the camera.

This function is non-blocking. See 'list_photos' for the blocking counterpart.

Parameters

• PhotosRange photos_range -
• const ListPhotosCallback callback -

list_photos()

std::pair<Result, std::vector<Camera::CaptureInfo> > mavsdk::Camera::list_photos(PhotosRange photos_range) const

List photos available on the camera.

This function is blocking. See 'list_photos_async' for the non-blocking counterpart.

Parameters

• PhotosRange photos_range -

Returns

 std::pair< Result, std::vector< Camera::CaptureInfo > > - Result of request.

subscribe_mode()

ModeHandle mavsdk::Camera::subscribe_mode(const ModeCallback &callback)

Subscribe to camera mode updates.

Parameters

• const ModeCallback& callback -

Returns

 ModeHandle -

unsubscribe_mode()

void mavsdk::Camera::unsubscribe_mode(ModeHandle handle)

Unsubscribe from subscribe_mode.

Parameters

• ModeHandle handle -

mode()

Mode mavsdk::Camera::mode() const

Poll for 'Mode' (blocking).

Returns

 Mode - One Mode update.

subscribe_information()

InformationHandle mavsdk::Camera::subscribe_information(const InformationCallback &callback)

Subscribe to camera information updates.

Parameters

• const InformationCallback& callback -

Returns

 InformationHandle -

unsubscribe_information()

void mavsdk::Camera::unsubscribe_information(InformationHandle handle)

Unsubscribe from subscribe_information.

Parameters

• InformationHandle handle -

information()

Information mavsdk::Camera::information() const

Poll for 'Information' (blocking).

Returns

 Information - One Information update.

subscribe_video_stream_info()

VideoStreamInfoHandle mavsdk::Camera::subscribe_video_stream_info(const VideoStreamInfoCallback &callback)

Subscribe to video stream info updates.

Parameters

• const VideoStreamInfoCallback& callback -

Returns

 VideoStreamInfoHandle -

unsubscribe_video_stream_info()

void mavsdk::Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)

Unsubscribe from subscribe_video_stream_info.

Parameters

• VideoStreamInfoHandle handle -

video_stream_info()

VideoStreamInfo mavsdk::Camera::video_stream_info() const

Poll for 'VideoStreamInfo' (blocking).

Returns

 VideoStreamInfo - One VideoStreamInfo update.

subscribe_capture_info()

CaptureInfoHandle mavsdk::Camera::subscribe_capture_info(const CaptureInfoCallback &callback)

Subscribe to capture info updates.

Parameters

• const CaptureInfoCallback& callback -

Returns

 CaptureInfoHandle -

unsubscribe_capture_info()

void mavsdk::Camera::unsubscribe_capture_info(CaptureInfoHandle handle)

Unsubscribe from subscribe_capture_info.

Parameters

• CaptureInfoHandle handle -

subscribe_status()

StatusHandle mavsdk::Camera::subscribe_status(const StatusCallback &callback)

Subscribe to camera status updates.

Parameters

• const StatusCallback& callback -

Returns

 StatusHandle -

unsubscribe_status()

void mavsdk::Camera::unsubscribe_status(StatusHandle handle)

Unsubscribe from subscribe_status.

Parameters

• StatusHandle handle -

status()

Status mavsdk::Camera::status() const

Poll for 'Status' (blocking).

Returns

 Status - One Status update.

subscribe_current_settings()

CurrentSettingsHandle mavsdk::Camera::subscribe_current_settings(const CurrentSettingsCallback &callback)

Get the list of current camera settings.

Parameters

• const CurrentSettingsCallback& callback -

Returns

 CurrentSettingsHandle -

unsubscribe_current_settings()

void mavsdk::Camera::unsubscribe_current_settings(CurrentSettingsHandle handle)

Unsubscribe from subscribe_current_settings.

Parameters

• CurrentSettingsHandle handle -

subscribe_possible_setting_options()

PossibleSettingOptionsHandle mavsdk::Camera::subscribe_possible_setting_options(const PossibleSettingOptionsCallback &callback)

Get the list of settings that can be changed.

Parameters

• const PossibleSettingOptionsCallback& callback -

Returns

 PossibleSettingOptionsHandle -

unsubscribe_possible_setting_options()

void mavsdk::Camera::unsubscribe_possible_setting_options(PossibleSettingOptionsHandle handle)

Unsubscribe from subscribe_possible_setting_options.

Parameters

• PossibleSettingOptionsHandle handle -

possible_setting_options()

std::vector<SettingOptions> mavsdk::Camera::possible_setting_options() const

Poll for 'std::vector' (blocking).

Returns

 std::vector< SettingOptions > - One std::vector update.

set_setting_async()

void mavsdk::Camera::set_setting_async(Setting setting, const ResultCallback callback)

Set a setting to some value.

Only setting_id of setting and option_id of option needs to be set.

This function is non-blocking. See 'set_setting' for the blocking counterpart.

Parameters

• Setting setting -
• const ResultCallback callback -

set_setting()

Result mavsdk::Camera::set_setting(Setting setting) const

Set a setting to some value.

Only setting_id of setting and option_id of option needs to be set.

This function is blocking. See 'set_setting_async' for the non-blocking counterpart.

Parameters

• Setting setting -

Returns

 Result - Result of request.

get_setting_async()

void mavsdk::Camera::get_setting_async(Setting setting, const GetSettingCallback callback)

Get a setting.

Only setting_id of setting needs to be set.

This function is non-blocking. See 'get_setting' for the blocking counterpart.

Parameters

• Setting setting -
• const GetSettingCallback callback -

get_setting()

std::pair<Result, Camera::Setting> mavsdk::Camera::get_setting(Setting setting) const

Get a setting.

Only setting_id of setting needs to be set.

This function is blocking. See 'get_setting_async' for the non-blocking counterpart.

Parameters

• Setting setting -

Returns

 std::pair< Result, Camera::Setting > - Result of request.

format_storage_async()

void mavsdk::Camera::format_storage_async(int32_t storage_id, const ResultCallback callback)

Format storage (e.g. SD card) in camera.

This will delete all content of the camera storage!

This function is non-blocking. See 'format_storage' for the blocking counterpart.

Parameters

• int32_t storage_id -
• const ResultCallback callback -

format_storage()

Result mavsdk::Camera::format_storage(int32_t storage_id) const

Format storage (e.g. SD card) in camera.

This will delete all content of the camera storage!

This function is blocking. See 'format_storage_async' for the non-blocking counterpart.

Parameters

• int32_t storage_id -

Returns

 Result - Result of request.

select_camera()

Result mavsdk::Camera::select_camera(int32_t camera_id) const

Select current camera .

Bind the plugin instance to a specific camera_id

This function is blocking.

Parameters

• int32_t camera_id -

Returns

 Result - Result of request.

reset_settings_async()

void mavsdk::Camera::reset_settings_async(const ResultCallback callback)

Reset all settings in camera.

This will reset all camera settings to default value

This function is non-blocking. See 'reset_settings' for the blocking counterpart.

Parameters

• const ResultCallback callback -

reset_settings()

Result mavsdk::Camera::reset_settings() const

Reset all settings in camera.

This will reset all camera settings to default value

This function is blocking. See 'reset_settings_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

operator=()

const Camera& mavsdk::Camera::operator=(const Camera &)=delete

Equality operator (object is not copyable).

Parameters

• const Camera& -

Returns

 const Camera & -