Camera¶

drone.camera

MIT BWSI Autonomous Drone Racing Course - UAV Neo

File Name: camera.py File Description: Defines the interface of the Camera module of the drone_core library.

class camera.Camera¶

Returns color images, depth images, and downward images captured by the drone’s cameras.

get_color_image() → NDArray¶

Returns a deep copy of the current forward color image captured by the camera.

Returns:

An array representing the pixels in the image, organized as follows: 0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.

Note

Each color value ranges from 0 to 255.

Example:

image = uav.camera.get_color_image()
blue = image[3][5][0]

abstractmethod get_color_image_async() → NDArray¶: Returns the current forward color image without the drone in “go” mode.

Warning

This function breaks the start-update paradigm and should only be used in Jupyter Notebook.

abstractmethod get_color_image_no_copy() → NDArray¶

Returns a direct reference to the forward color image captured by the camera.

Warning

Do not modify the returned image.

Example:

image = uav.camera.get_color_image_no_copy()

abstractmethod get_depth_image() → NDArray¶

Returns the current depth image captured by the forward camera.

Returns:: A two-dimensional array storing the distance of each pixel from the drone in cm.

Example:

image = uav.camera.get_depth_image()
distance = image[3][5]

abstractmethod get_depth_image_async() → NDArray¶: Returns the current depth image without the drone in “go” mode.

Warning

This function breaks the start-update paradigm and should only be used in Jupyter Notebook.

abstractmethod get_downward_image() → NDArray¶

Returns the current image from the downward-facing RGB camera.

Returns:

An array representing the pixels in the image, organized as follows: 0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.

Example:

down_image = uav.camera.get_downward_image()

abstractmethod get_downward_image_async() → NDArray¶: Returns the current downward image without the drone in “go” mode.

Warning

This function breaks the start-update paradigm and should only be used in Jupyter Notebook.

get_height() → int¶: Returns the pixel height of the color and depth images.

get_max_range() → float¶: Returns the maximum distance in cm which can be detected by the depth camera.