blueye.sdk.guestport

guestport

Classes:

• GenericServo –

  Represents a servo connected to a guest port on the Blueye drone.

• Gripper –

  Represents a gripper connected to a guest port on the Blueye drone.

• GuestPortCamera –

  Represents a camera connected to a guest port on the Blueye drone.

• GuestPortLight –

  Represents a light connected to a guest port on the Blueye drone.

• Laser –

  Represents a laser connected to a guest port on the Blueye drone.

• Peripheral –

  Represents a peripheral device connected to a guest port on the Blueye drone.

• SkidServo –

  Represents the servo on the skid (typically used for multibeams)

Functions:

• device_to_peripheral –

  Convert a device to its corresponding peripheral class.

GenericServo

GenericServo(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a servo connected to a guest port on the Blueye drone.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Methods:

• get_angle –

  Get the current angle of the servo.

• set_angle –

  Set the angle of the servo.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Servo class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """

    self.max_angle = 90
    self.min_angle = -90
    Peripheral.__init__(self, parent_drone, port_number, device)

get_angle

get_angle() -> float | None

Get the current angle of the servo.

Returns:

• float | None –

  The current angle of the servo in degrees. None if telemetry is not available.

Source code in blueye/sdk/guestport.py

def get_angle(self) -> float | None:
    """Get the current angle of the servo.

    Returns:
        The current angle of the servo in degrees. None if telemetry is not available.
    """
    telemetry_msg = self.parent_drone.telemetry.get(bp.GenericServoTel)
    if telemetry_msg is None:
        return None
    else:
        return telemetry_msg.servo.value

set_angle

set_angle(angle: float) -> None

Set the angle of the servo.

Parameters:

• angle (float) –

  The angle to set for the servo (-90 to 90 degrees).

Raises:

• ValueError –

  If the angle is not within the allowed range.

Source code in blueye/sdk/guestport.py

def set_angle(self, angle: float) -> None:
    """Set the angle of the servo.

    Args:
        angle (float): The angle to set for the servo (-90 to 90 degrees).

    Raises:
        ValueError: If the angle is not within the allowed range.
    """
    if angle < self.min_angle or angle > self.max_angle:
        raise ValueError(
            f"Angle must be between {self.min_angle} and {self.max_angle} degrees."
        )
    self.parent_drone._ctrl_client.set_generic_servo_angle(angle, self.port_number)

Gripper

Gripper(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a gripper connected to a guest port on the Blueye drone.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Methods:

• get_grip_velocity –

  Get the current grip velocity of the Gripper.

• get_rotation_velocity –

  Get the current rotation velocity of the Gripper.

• set_grip_velocity –

  Set the current grip velocity of the Gripper.

• set_rotation_velocity –

  Set the current rotation velocity of the Gripper.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Gripper class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Peripheral.__init__(self, parent_drone, port_number, device)
    self._grip_velocity = 0
    self._rotation_velocity = 0

get_grip_velocity

get_grip_velocity() -> float

Get the current grip velocity of the Gripper.

Returns:

• float –

  The current grip velocity of the Gripper.

Source code in blueye/sdk/guestport.py

def get_grip_velocity(self) -> float:
    """Get the current grip velocity of the Gripper.

    Returns:
        The current grip velocity of the Gripper.
    """
    return self._grip_velocity

get_rotation_velocity

get_rotation_velocity() -> float

Get the current rotation velocity of the Gripper.

Returns:

• float –

  The current rotation velocity of the Gripper.

Source code in blueye/sdk/guestport.py

def get_rotation_velocity(self) -> float:
    """Get the current rotation velocity of the Gripper.

    Returns:
        The current rotation velocity of the Gripper.
    """
    return self._rotation_velocity

set_grip_velocity

set_grip_velocity(value: float)

Set the current grip velocity of the Gripper.

Parameters:

• value (float) –

  The new grip velocity to set. Must be a float between -1.0 and 1.0.

Raises:

• ValueError –

  If the grip velocity is not between -1.0 and 1.0.

Source code in blueye/sdk/guestport.py

def set_grip_velocity(self, value: float):
    """Set the current grip velocity of the Gripper.

    Args:
        value (float): The new grip velocity to set. Must be a float between -1.0 and 1.0.

    Raises:
        ValueError: If the grip velocity is not between -1.0 and 1.0.
    """
    if value < -1.0 or value > 1.0:
        raise ValueError("Grip velocity must be between -1.0 and 1.0.")
    self._grip_velocity = value
    self.parent_drone._ctrl_client.set_gripper_velocities(
        self._grip_velocity, self._rotation_velocity
    )

set_rotation_velocity

set_rotation_velocity(value: float)

Set the current rotation velocity of the Gripper.

Parameters:

• value (float) –

  The new rotation velocity to set. Must be a float between -1.0 and 1.0.

Raises:

• ValueError –

  If the rotation velocity is not between -1.0 and 1.0.

Source code in blueye/sdk/guestport.py

def set_rotation_velocity(self, value: float):
    """Set the current rotation velocity of the Gripper.

    Args:
        value (float): The new rotation velocity to set. Must be a float between -1.0 and 1.0.

    Raises:
        ValueError: If the rotation velocity is not between -1.0 and 1.0.
    """
    if value < -1.0 or value > 1.0:
        raise ValueError("Rotation velocity must be between -1.0 and 1.0.")
    self._rotation_velocity = value
    self.parent_drone._ctrl_client.set_gripper_velocities(
        self._grip_velocity, self._rotation_velocity
    )

GuestPortCamera

GuestPortCamera(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a camera connected to a guest port on the Blueye drone.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Methods:

• configure –

  Return a context manager for batching camera parameter changes.

• enable_ehdr –

  Enable or disable the eHDR mode.

• get_backlight_compensation –

  Get the camera backlight compensation.

• get_bitrate –

  Get the video stream bitrate.

• get_bitrate_still_picture –

  Get the bitrate for the still picture stream.

• get_brightness –

  Get the camera brightness.

• get_contrast –

  Get the camera contrast.

• get_denoise –

  Get the camera noise reduction.

• get_ehdr_exposure_max_number –

  Get the maximum number of eHDR frames.

• get_ehdr_exposure_min_number –

  Get the minimum number of eHDR frames.

• get_exposure –

  Get the camera exposure.

• get_framerate –

  Get the camera frame rate.

• get_gain –

  Get the camera gain.

• get_gamma –

  Get the camera gamma.

• get_hue –

  Get the camera hue.

• get_mtu_size –

  Get the network MTU size used for video streaming.

• get_record_time –

  Get the duration of the current camera recording.

• get_recording_bitrate –

  Get the recording bitrate in bits per second.

• get_recording_codec –

  Get the recording video codec.

• get_recording_resolution –

  Get the camera recording resolution.

• get_resolution –

  Get the camera resolution.

• get_saturation –

  Get the camera saturation.

• get_sharpness –

  Get the camera sharpness.

• get_stream_resolution –

  Get the camera stream resolution.

• get_streaming_protocol –

  Get the streaming protocol (codec used for the RTSP stream).

• get_whitebalance –

  Get the camera white balance.

• is_ehdr_enabled –

  Get the state of the eHDR mode.

• is_recording_active –

  Get the camera recording state.

• set_backlight_compensation –

  Set the camera backlight compensation.

• set_bitrate –

  Set the video stream bitrate.

• set_bitrate_still_picture –

  Set the bitrate for the still picture stream.

• set_brightness –

  Set the camera brightness.

• set_contrast –

  Set the camera contrast.

• set_denoise –

  Set the camera noise reduction.

• set_ehdr_exposure_max_number –

  Set the maximum number of eHDR frames.

• set_ehdr_exposure_min_number –

  Set the minimum number of eHDR frames.

• set_exposure –

  Set the camera exposure.

• set_framerate –

  Set the camera frame rate.

• set_gain –

  Set the camera gain.

• set_gamma –

  Set the camera gamma.

• set_hue –

  Set the camera hue.

• set_mtu_size –

  Set the network MTU size used for video streaming.

• set_recording –

  Set the camera recording state.

• set_recording_bitrate –

  Set the recording bitrate in bits per second.

• set_recording_codec –

  Set the recording video codec.

• set_recording_resolution –

  Set the camera recording resolution.

• set_resolution –

  Set the camera resolution.

• set_saturation –

  Set the camera saturation.

• set_sharpness –

  Set the camera sharpness.

• set_stream_resolution –

  Set the camera stream resolution.

• set_streaming_protocol –

  Set the streaming protocol (codec used for the RTSP stream).

• set_whitebalance –

  Set the camera white balance.

• take_picture –

  Take a still picture and store it locally on the drone.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the GuestPortCamera class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Camera.__init__(self, parent_drone, is_guestport_camera=True)
    Peripheral.__init__(self, parent_drone, port_number, device)

configure

configure(timeout: float = 0.5) -> _ParamsBatch

Return a context manager for batching camera parameter changes.

All attribute assignments on the returned object are accumulated and sent as a single set_camera_parameters request when the with block exits. If an exception is raised inside the block the changes are discarded.

Parameters take the same names and values as the corresponding setters; the protobuf field names and enums are accepted as well.

Parameters:

• timeout (float, default: 0.5 ) –

  Timeout in seconds for the request. Increase when changing parameters that trigger pipeline restarts (e.g. codec, resolution).

Raises:

• ValueError –

  If a value is not valid for the parameter being set.

• RuntimeError –

  If a parameter requires a newer Blunux version than the drone runs.

Usage::

with drone.camera.configure() as params:
    params.recording_codec = bp.RecordingCodec.RECORDING_CODEC_H265
    params.recording_bitrate = 20_000_000
# sent here

Source code in blueye/sdk/camera.py

def configure(self, timeout: float = 0.5) -> _ParamsBatch:
    """Return a context manager for batching camera parameter changes.

    All attribute assignments on the returned object are accumulated and sent as a single
    ``set_camera_parameters`` request when the ``with`` block exits.  If an exception is
    raised inside the block the changes are discarded.

    Parameters take the same names and values as the corresponding setters; the protobuf
    field names and enums are accepted as well.

    Args:
        timeout (float, optional): Timeout in seconds for the request. Increase when changing
            parameters that trigger pipeline restarts (e.g. codec, resolution).

    Raises:
        ValueError: If a value is not valid for the parameter being set.
        RuntimeError: If a parameter requires a newer Blunux version than the drone runs.

    Usage::

        with drone.camera.configure() as params:
            params.recording_codec = bp.RecordingCodec.RECORDING_CODEC_H265
            params.recording_bitrate = 20_000_000
        # sent here
    """
    return self._ParamsBatch(self, timeout=timeout)

enable_ehdr

enable_ehdr(enable_ehdr: bool)

Enable or disable the eHDR mode.

Only available on Ultra.

Parameters:

• enable_ehdr (bool) –

  True to enable eHDR mode, False to disable it. Enabled by default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def enable_ehdr(self, enable_ehdr: bool):
    """Enable or disable the eHDR mode.

    Only available on Ultra.

    Args:
        enable_ehdr (bool): True to enable eHDR mode, False to disable it. Enabled by default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.ehdr_enabled = enable_ehdr
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

get_backlight_compensation

get_backlight_compensation() -> int

Get the camera backlight compensation.

Only available on Ultra.

Returns:

• int –

  The camera backlight compensation.

Source code in blueye/sdk/camera.py

def get_backlight_compensation(self) -> int:
    """Get the camera backlight compensation.

    Only available on Ultra.

    Returns:
        The camera backlight compensation.
    """
    self._update_camera_parameters()
    return self._camera_parameters.backlight_compensation

get_bitrate

get_bitrate() -> int

Get the video stream bitrate.

Returns:

• int –

  The H264 video stream bitrate.

Source code in blueye/sdk/camera.py

def get_bitrate(self) -> int:
    """Get the video stream bitrate.

    Returns:
        The H264 video stream bitrate.
    """
    self._update_camera_parameters()
    return self._camera_parameters.h264_bitrate

get_bitrate_still_picture

get_bitrate_still_picture() -> int

Get the bitrate for the still picture stream.

Returns:

• int –

  The still picture stream bitrate.

Source code in blueye/sdk/camera.py

def get_bitrate_still_picture(self) -> int:
    """Get the bitrate for the still picture stream.

    Returns:
        The still picture stream bitrate.
    """
    self._update_camera_parameters()
    return self._camera_parameters.mjpg_bitrate

get_brightness

get_brightness() -> int

Get the camera brightness.

Only available on Ultra.

Returns:

• int –

  The camera brightness.

Source code in blueye/sdk/camera.py

def get_brightness(self) -> int:
    """Get the camera brightness.

    Only available on Ultra.

    Returns:
        The camera brightness.
    """
    self._update_camera_parameters()
    return self._camera_parameters.brightness

get_contrast

get_contrast() -> int

Get the camera contrast.

Only available on Ultra.

Returns:

• int –

  The camera contrast.

Source code in blueye/sdk/camera.py

def get_contrast(self) -> int:
    """Get the camera contrast.

    Only available on Ultra.

    Returns:
        The camera contrast.
    """
    self._update_camera_parameters()
    return self._camera_parameters.contrast

get_denoise

get_denoise() -> int

Get the camera noise reduction.

Only available on Ultra.

Returns:

• int –

  The camera noise reduction.

Source code in blueye/sdk/camera.py

def get_denoise(self) -> int:
    """Get the camera noise reduction.

    Only available on Ultra.

    Returns:
        The camera noise reduction.
    """
    self._update_camera_parameters()
    return self._camera_parameters.denoise

get_ehdr_exposure_max_number

get_ehdr_exposure_max_number() -> int

Get the maximum number of eHDR frames.

Only available on Ultra.

Returns:

• int –

  The maximum number of eHDR frames.

Source code in blueye/sdk/camera.py

def get_ehdr_exposure_max_number(self) -> int:
    """Get the maximum number of eHDR frames.

    Only available on Ultra.

    Returns:
        The maximum number of eHDR frames.
    """
    self._update_camera_parameters()
    return self._camera_parameters.ehdr_exposure_max_number

get_ehdr_exposure_min_number

get_ehdr_exposure_min_number() -> int

Get the minimum number of eHDR frames.

Only available on Ultra.

Returns:

• int –

  The minimum number of eHDR frames.

Source code in blueye/sdk/camera.py

def get_ehdr_exposure_min_number(self) -> int:
    """Get the minimum number of eHDR frames.

    Only available on Ultra.

    Returns:
        The minimum number of eHDR frames.
    """
    self._update_camera_parameters()
    return self._camera_parameters.ehdr_exposure_min_number

get_exposure

get_exposure() -> int

Get the camera exposure.

Returns:

• int –

  The camera exposure.

Source code in blueye/sdk/camera.py

def get_exposure(self) -> int:
    """Get the camera exposure.

    Returns:
        The camera exposure.
    """
    self._update_camera_parameters()
    return self._camera_parameters.exposure

get_framerate

get_framerate() -> int

Get the camera frame rate.

Raises:

• RuntimeError –

  If the drone reports a frame rate the SDK does not recognize.

Returns:

• int –

  The camera frame rate.

Source code in blueye/sdk/camera.py

def get_framerate(self) -> int:
    """Get the camera frame rate.

    Raises:
        RuntimeError: If the drone reports a frame rate the SDK does not recognize.

    Returns:
        The camera frame rate.
    """
    self._update_camera_parameters()
    try:
        return _FRAMERATE_TO_FPS[self._camera_parameters.framerate]
    except KeyError:
        raise RuntimeError(
            "Drone reported an unsupported framerate: "
            f"{_describe_enum(self._camera_parameters.framerate)}"
        ) from None

get_gain

get_gain() -> float

Get the camera gain.

Only available on Pioneer/Pro/X1/X3.

Returns:

• float –

  The camera ISO gain.

Source code in blueye/sdk/camera.py

def get_gain(self) -> float:
    """Get the camera gain.

    Only available on Pioneer/Pro/X1/X3.

    Returns:
        The camera ISO gain.
    """
    self._update_camera_parameters()
    return self._camera_parameters.gain

get_gamma

get_gamma() -> int

Get the camera gamma.

Only available on Ultra.

Returns:

• int –

  The camera gamma.

Source code in blueye/sdk/camera.py

def get_gamma(self) -> int:
    """Get the camera gamma.

    Only available on Ultra.

    Returns:
        The camera gamma.
    """
    self._update_camera_parameters()
    return self._camera_parameters.gamma

get_hue

get_hue() -> int

Get the camera hue.

Returns:

• int –

  The camera hue.

Source code in blueye/sdk/camera.py

def get_hue(self) -> int:
    """Get the camera hue.

    Returns:
        The camera hue.
    """
    self._update_camera_parameters()
    return self._camera_parameters.hue

get_mtu_size

get_mtu_size() -> int

Get the network MTU size used for video streaming.

Returns:

• int –

  The MTU size in bytes (0 if the drone default is used).

Source code in blueye/sdk/camera.py

def get_mtu_size(self) -> int:
    """Get the network MTU size used for video streaming.

    Returns:
        The MTU size in bytes (0 if the drone default is used).
    """
    self._update_camera_parameters()
    return self._camera_parameters.mtu_size

get_record_time

get_record_time() -> Optional[int]

Get the duration of the current camera recording.

Returns:

• Optional[int] –

  The length in seconds of the current recording, -1 if the camera is not currently recording. Returns None if the SDK hasn't received a RecordState telemetry message.

Source code in blueye/sdk/camera.py

def get_record_time(self) -> Optional[int]:
    """Get the duration of the current camera recording.

    Returns:
        The length in seconds of the current recording, -1 if the camera is not currently
        recording. Returns None if the SDK hasn't received a RecordState telemetry message.
    """
    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

get_recording_bitrate

get_recording_bitrate() -> int

Get the recording bitrate in bits per second.

A value of 0 means the drone will auto-compute a default bitrate based on the current resolution, framerate, and codec.

Returns:

• int –

  The current recording bitrate in bits per second (0 if automatic).

Source code in blueye/sdk/camera.py

def get_recording_bitrate(self) -> int:
    """Get the recording bitrate in bits per second.

    A value of 0 means the drone will auto-compute a default bitrate based on the current
    resolution, framerate, and codec.

    Returns:
        The current recording bitrate in bits per second (0 if automatic).
    """
    self._update_camera_parameters()
    return self._camera_parameters.recording_bitrate

get_recording_codec

get_recording_codec() -> RecordingCodec

Get the recording video codec.

Returns:

• RecordingCodec –

  The current recording codec setting.

Source code in blueye/sdk/camera.py

def get_recording_codec(self) -> blueye.protocol.RecordingCodec:
    """Get the recording video codec.

    Returns:
        The current recording codec setting.
    """
    self._update_camera_parameters()
    return self._camera_parameters.recording_codec

get_recording_resolution

get_recording_resolution() -> Resolution

Get the camera recording resolution.

For drones running Blunux version < 4.4.1 this is the same as the get_resolution method.

Returns:

• Resolution –

  The camera recording resolution.

Source code in blueye/sdk/camera.py

def get_recording_resolution(self) -> blueye.protocol.Resolution:
    """Get the camera recording resolution.

    For drones running Blunux version < 4.4.1 this is the same as the
    [`get_resolution`][blueye.sdk.camera.Camera.get_resolution] method.

    Returns:
        The camera recording resolution.
    """
    self._update_camera_parameters()

    # Drones running Blunux < 4.4 do not support recording resolution so we return the old
    # resolution field instead.
    if version.parse(self._parent_drone.software_version_short) < version.parse("4.4"):
        return self._camera_parameters.resolution
    else:
        return self._camera_parameters.recording_resolution

get_resolution

get_resolution() -> int

Get the camera resolution.

Deprecated

Drones running Blunux 4.4 or newer take the resolution from the stream and recording resolution fields. Use get_stream_resolution and get_recording_resolution instead.

Raises:

• RuntimeError –

  If the drone reports a resolution the SDK does not recognize.

Returns:

• int –

  The camera resolution.

Source code in blueye/sdk/camera.py

def get_resolution(self) -> int:
    """Get the camera resolution.

    Deprecated:
        Drones running Blunux 4.4 or newer take the resolution from the stream and recording
        resolution fields. Use
        [`get_stream_resolution`][blueye.sdk.camera.Camera.get_stream_resolution] and
        [`get_recording_resolution`][blueye.sdk.camera.Camera.get_recording_resolution]
        instead.

    Raises:
        RuntimeError: If the drone reports a resolution the SDK does not recognize.

    Returns:
        The camera resolution.
    """
    warnings.warn(
        "`Camera.get_resolution` is deprecated, use `Camera.get_stream_resolution` or "
        "`Camera.get_recording_resolution` instead",
        DeprecationWarning,
        stacklevel=2,
    )
    self._update_camera_parameters()
    try:
        return _RESOLUTION_TO_HEIGHT[self._camera_parameters.resolution]
    except KeyError:
        raise RuntimeError(
            "Drone reported an unsupported resolution: "
            f"{_describe_enum(self._camera_parameters.resolution)}"
        ) from None

get_saturation

get_saturation() -> int

Get the camera saturation.

Only available on Ultra.

Returns:

• int –

  The camera saturation.

Source code in blueye/sdk/camera.py

def get_saturation(self) -> int:
    """Get the camera saturation.

    Only available on Ultra.

    Returns:
        The camera saturation.
    """
    self._update_camera_parameters()
    return self._camera_parameters.saturation

get_sharpness

get_sharpness() -> int

Get the camera sharpness.

Only available on Ultra.

Returns:

• int –

  The camera sharpness.

Source code in blueye/sdk/camera.py

def get_sharpness(self) -> int:
    """Get the camera sharpness.

    Only available on Ultra.

    Returns:
        The camera sharpness.
    """
    self._update_camera_parameters()
    return self._camera_parameters.sharpness

get_stream_resolution

get_stream_resolution() -> Resolution

Get the camera stream resolution.

For drones running blunux version < 4.4.1 this is the same as the get_resolution method.

Returns:

• Resolution –

  The camera stream resolution

Source code in blueye/sdk/camera.py

def get_stream_resolution(self) -> blueye.protocol.Resolution:
    """Get the camera stream resolution.

    For drones running blunux version < 4.4.1 this is the same as the
    [`get_resolution`][blueye.sdk.camera.Camera.get_resolution] method.

    Returns:
        The camera stream resolution
    """
    self._update_camera_parameters()

    # Drones running Blunux < 4.4 do not support stream resolution so we return the old
    # resolution field instead.
    if version.parse(self._parent_drone.software_version_short) < version.parse("4.4"):
        return self._camera_parameters.resolution
    else:
        return self._camera_parameters.stream_resolution

get_streaming_protocol

get_streaming_protocol() -> StreamingProtocol

Get the streaming protocol (codec used for the RTSP stream).

Returns:

• StreamingProtocol –

  The current streaming protocol.

Source code in blueye/sdk/camera.py

def get_streaming_protocol(self) -> blueye.protocol.StreamingProtocol:
    """Get the streaming protocol (codec used for the RTSP stream).

    Returns:
        The current streaming protocol.
    """
    self._update_camera_parameters()
    return self._camera_parameters.streaming_protocol

get_whitebalance

get_whitebalance() -> int

Get the camera white balance.

Returns:

• int –

  The camera white balance.

Source code in blueye/sdk/camera.py

def get_whitebalance(self) -> int:
    """Get the camera white balance.

    Returns:
        The camera white balance.
    """
    self._update_camera_parameters()
    return self._camera_parameters.white_balance

is_ehdr_enabled

is_ehdr_enabled() -> bool

Get the state of the eHDR mode.

Only available on Ultra.

Returns:

• bool –

  The current state of the eHDR mode.

Source code in blueye/sdk/camera.py

def is_ehdr_enabled(self) -> bool:
    """Get the state of the eHDR mode.

    Only available on Ultra.

    Returns:
        The current state of the eHDR mode.
    """
    self._update_camera_parameters()
    return self._camera_parameters.ehdr_enabled

is_recording_active

is_recording_active() -> Optional[bool]

Get the camera recording state.

Returns:

• Optional[bool] –

  True if the camera is currently recording, False if not. Returns None if the SDK hasn't received a RecordState telemetry message.

Source code in blueye/sdk/camera.py

def is_recording_active(self) -> Optional[bool]:
    """Get the camera recording state.

    Returns:
        True if the camera is currently recording, False if not. Returns None if the SDK
        hasn't received a RecordState telemetry message.
    """
    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

set_backlight_compensation

set_backlight_compensation(compensation: int)

Set the camera backlight compensation.

Only available on Ultra.

Parameters:

• compensation (int) –

  Set the backlight compensation (-150..150), 10 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_backlight_compensation(self, compensation: int):
    """Set the camera backlight compensation.

    Only available on Ultra.

    Args:
        compensation (int): Set the backlight compensation (-150..150), 10 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.backlight_compensation = compensation
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_bitrate

set_bitrate(bitrate: int)

Set the video stream bitrate.

Parameters:

• bitrate (int) –

  Set the video stream bitrate in bits, valid values are in range (1 000 000 .. 16 000 000).

Source code in blueye/sdk/camera.py

def set_bitrate(self, bitrate: int):
    """Set the video stream bitrate.

    Args:
        bitrate (int): Set the video stream bitrate in bits, valid values are in range
                       (1 000 000 .. 16 000 000).
    """
    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)

set_bitrate_still_picture

set_bitrate_still_picture(bitrate: int)

Set the bitrate for the still picture stream.

Parameters:

• 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.

Source code in blueye/sdk/camera.py

def set_bitrate_still_picture(self, bitrate: int):
    """Set the bitrate for the still picture stream.

    Args:
        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.
    """
    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)

set_brightness

set_brightness(brightness: int)

Set the camera brightness.

Only available on Ultra.

Parameters:

• brightness (int) –

  Set the brightness (-10..10), 0 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_brightness(self, brightness: int):
    """Set the camera brightness.

    Only available on Ultra.

    Args:
        brightness (int): Set the brightness (-10..10), 0 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.brightness = brightness
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_contrast

set_contrast(contrast: int)

Set the camera contrast.

Only available on Ultra.

Parameters:

• contrast (int) –

  Set the contrast (-50..50), 0 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_contrast(self, contrast: int):
    """Set the camera contrast.

    Only available on Ultra.

    Args:
        contrast (int): Set the contrast (-50..50), 0 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.contrast = contrast
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_denoise

set_denoise(denoise: int)

Set the camera noise reduction.

Only available on Ultra.

Parameters:

• denoise (int) –

  Set the noise reduction (-20..20), -20 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_denoise(self, denoise: int):
    """Set the camera noise reduction.

    Only available on Ultra.

    Args:
        denoise (int): Set the noise reduction (-20..20), -20 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.denoise = denoise
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_ehdr_exposure_max_number

set_ehdr_exposure_max_number(number: int)

Set the maximum number of eHDR frames.

Only available on Ultra.

Parameters:

• number (int) –

  Set the maximum number of eHDR frames (1..4), 2 is the default. Setting it higher than 2 can reduce the frame rate.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_ehdr_exposure_max_number(self, number: int):
    """Set the maximum number of eHDR frames.

    Only available on Ultra.

    Args:
        number (int): Set the maximum number of eHDR frames (1..4), 2 is the default. Setting
            it higher than 2 can reduce the frame rate.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.ehdr_exposure_max_number = number
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_ehdr_exposure_min_number

set_ehdr_exposure_min_number(number: int)

Set the minimum number of eHDR frames.

Only available on Ultra.

Parameters:

• number (int) –

  Set the minimum number of eHDR frames (1..4), 1 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_ehdr_exposure_min_number(self, number: int):
    """Set the minimum number of eHDR frames.

    Only available on Ultra.

    Args:
        number (int): Set the minimum number of eHDR frames (1..4), 1 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.ehdr_exposure_min_number = number
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_exposure

set_exposure(exposure: int)

Set the camera exposure.

Parameters:

• 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.

Source code in blueye/sdk/camera.py

def set_exposure(self, exposure: int):
    """Set the camera exposure.

    Args:
        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.
    """
    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)

set_framerate

set_framerate(framerate: int)

Set the camera frame rate.

Parameters:

• framerate (int) –

  Set the camera frame rate in frames per second. Valid values are 25, 30 or 60. 25 fps is only supported on Pioneer/Pro/X1/X3, and 60 fps only on the Ultra at 1440p or lower. If the requested frame rate is not supported at the current resolution the drone reduces it while respecting the resolution.

Raises:

• ValueError –

  If the frame rate is not 25, 30 or 60.

Source code in blueye/sdk/camera.py

def set_framerate(self, framerate: int):
    """Set the camera frame rate.

    Args:
        framerate (int): Set the camera frame rate in frames per second. Valid values are 25,
            30 or 60. 25 fps is only supported on Pioneer/Pro/X1/X3, and 60 fps only on the
            Ultra at 1440p or lower. If the requested frame rate is not supported at the
            current resolution the drone reduces it while respecting the resolution.

    Raises:
        ValueError: If the frame rate is not 25, 30 or 60.
    """
    if framerate not in _FPS_TO_FRAMERATE:
        raise ValueError(f"{framerate} is not a valid framerate. Valid values are 25, 30 or 60")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.framerate = _FPS_TO_FRAMERATE[framerate]
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_gain

set_gain(gain: float)

Set the camera gain.

Only available on Pioneer/Pro/X1/X3.

Parameters:

• gain (float) –

  Set the ISO gain (0..1).

Source code in blueye/sdk/camera.py

def set_gain(self, gain: float):
    """Set the camera gain.

    Only available on Pioneer/Pro/X1/X3.

    Args:
        gain (float): Set the ISO gain (0..1).
    """
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.gain = gain
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_gamma

set_gamma(gamma: int)

Set the camera gamma.

Only available on Ultra.

Parameters:

• gamma (int) –

  Set the gamma (4..79), 22 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_gamma(self, gamma: int):
    """Set the camera gamma.

    Only available on Ultra.

    Args:
        gamma (int): Set the gamma (4..79), 22 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.gamma = gamma
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_hue

set_hue(hue: int)

Set the camera hue.

Parameters:

• hue (int) –

  Set the camera hue. Valid values are in the range (-40..40).

Source code in blueye/sdk/camera.py

def set_hue(self, hue: int):
    """Set the camera hue.

    Args:
        hue (int): Set the camera hue. Valid values are in the range (-40..40).
    """
    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)

set_mtu_size

set_mtu_size(mtu_size: int)

Set the network MTU size used for video streaming.

Parameters:

• mtu_size (int) –

  Set the MTU size in bytes (68..65535). The Blueye app allows values between 500 and 1460. A value of 0 means the drone uses its default of 1400.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.1.0.

Source code in blueye/sdk/camera.py

def set_mtu_size(self, mtu_size: int):
    """Set the network MTU size used for video streaming.

    Args:
        mtu_size (int): Set the MTU size in bytes (68..65535). The Blueye app allows values
            between 500 and 1460. A value of 0 means the drone uses its default of 1400.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.1.0.
    """
    self._parent_drone._verify_required_blunux_version("5.1.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.mtu_size = mtu_size
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_recording

set_recording(start_recording: bool)

Set the camera recording state.

Parameters:

• start_recording (bool) –

  Set to True to start a recording, set to False to stop the current recording.

Warns:

• RuntimeWarning –

  If no recording state telemetry data is received.

Source code in blueye/sdk/camera.py

def set_recording(self, start_recording: bool):
    """Set the camera recording state.

    Args:
        start_recording (bool): Set to True to start a recording, set to False to stop the
                                current recording.

    Warns:
        RuntimeWarning: If no recording state telemetry data is received.
    """
    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
        )

set_recording_bitrate

set_recording_bitrate(bitrate: int)

Set the recording bitrate in bits per second.

A value of 0 means the drone will auto-compute a default bitrate based on the current resolution, framerate, and codec.

Parameters:

• bitrate (int) –

  Set the recording bitrate in bits per second. Use 0 for automatic.

Raises:

• RuntimeError –

  If the connected drone is running Blunux older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_recording_bitrate(self, bitrate: int):
    """Set the recording bitrate in bits per second.

    A value of 0 means the drone will auto-compute a default bitrate based on the current
    resolution, framerate, and codec.

    Args:
        bitrate (int): Set the recording bitrate in bits per second. Use 0 for automatic.

    Raises:
        RuntimeError: If the connected drone is running Blunux older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.recording_bitrate = bitrate
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_recording_codec

set_recording_codec(codec: RecordingCodec)

Set the recording video codec.

Parameters:

• codec (RecordingCodec) –

  Set the recording codec. RECORDING_CODEC_UNSPECIFIED uses the platform default (H.264). RECORDING_CODEC_H265 is only available on Ultra.

Raises:

• ValueError –

  If the codec is not a valid blueye.protocol.RecordingCodec type.

• RuntimeError –

  If the connected drone is running Blunux older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_recording_codec(self, codec: blueye.protocol.RecordingCodec):
    """Set the recording video codec.

    Args:
        codec (blueye.protocol.RecordingCodec): Set the recording codec.
            RECORDING_CODEC_UNSPECIFIED uses the platform default (H.264).
            RECORDING_CODEC_H265 is only available on Ultra.

    Raises:
        ValueError: If the codec is not a valid `blueye.protocol.RecordingCodec` type.
        RuntimeError: If the connected drone is running Blunux older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if not isinstance(codec, blueye.protocol.RecordingCodec):
        raise ValueError(f"{codec} is not a valid RecordingCodec type")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.recording_codec = codec
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_recording_resolution

set_recording_resolution(resolution: Resolution)

Set the camera recording resolution.

For drones running Blunux version < 4.4.1 this is the same as the set_resolution method.

Parameters:

• resolution (Resolution) –

  Set the camera recording resolution.

Raises:

• ValueError –

  If the resolution is not a valid blueye.protocol.Resolution type

Source code in blueye/sdk/camera.py

def set_recording_resolution(self, resolution: blueye.protocol.Resolution):
    """Set the camera recording resolution.

    For drones running Blunux version < 4.4.1 this is the same as the
    [`set_resolution`][blueye.sdk.camera.Camera.set_resolution] method.

    Args:
        resolution (blueye.protocol.Resolution): Set the camera recording resolution.

    Raises:
        ValueError: If the resolution is not a valid `blueye.protocol.Resolution` type
    """
    if not isinstance(resolution, blueye.protocol.Resolution):
        raise ValueError(f"{resolution} is not a valid resolution type")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.recording_resolution = resolution
    # If the drone is running Blunux < 4.4 we need to set the resolution field as well.
    self._camera_parameters.resolution = resolution
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_resolution

set_resolution(resolution: int)

Set the camera resolution.

Deprecated

Drones running Blunux 4.4 or newer ignore this field when camera parameters are set, so calling this method has no effect on them. Use set_stream_resolution and set_recording_resolution instead.

Parameters:

• resolution (int) –

  Set the camera in vertical pixels. Valid values are 480, 720, 1080, 1440 or 2160.

Raises:

• ValueError –

  If the resolution is not one of the valid values.

Source code in blueye/sdk/camera.py

def set_resolution(self, resolution: int):
    """Set the camera resolution.

    Deprecated:
        Drones running Blunux 4.4 or newer ignore this field when camera parameters are set,
        so calling this method has no effect on them. Use
        [`set_stream_resolution`][blueye.sdk.camera.Camera.set_stream_resolution] and
        [`set_recording_resolution`][blueye.sdk.camera.Camera.set_recording_resolution]
        instead.

    Args:
        resolution (int): Set the camera in vertical pixels. Valid values are 480, 720, 1080,
            1440 or 2160.

    Raises:
        ValueError: If the resolution is not one of the valid values.
    """
    warnings.warn(
        "`Camera.set_resolution` is deprecated and is ignored by drones running Blunux 4.4 or "
        "newer, use `Camera.set_stream_resolution` or `Camera.set_recording_resolution` "
        "instead",
        DeprecationWarning,
        stacklevel=2,
    )
    if resolution not in _HEIGHT_TO_RESOLUTION:
        raise ValueError(
            f"{resolution} is not a valid resolution. "
            "Valid values are 480, 720, 1080, 1440 or 2160"
        )
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.resolution = _HEIGHT_TO_RESOLUTION[resolution]
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_saturation

set_saturation(saturation: int)

Set the camera saturation.

Only available on Ultra.

Parameters:

• saturation (int) –

  Set the saturation (0..50), 8 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_saturation(self, saturation: int):
    """Set the camera saturation.

    Only available on Ultra.

    Args:
        saturation (int): Set the saturation (0..50), 8 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.saturation = saturation
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_sharpness

set_sharpness(sharpness: int)

Set the camera sharpness.

Only available on Ultra.

Parameters:

• sharpness (int) –

  Set the sharpness (-20..20), -20 is the default.

Raises:

• RuntimeError –

  If the connected drone is running a Blunux version older than 5.0.0.

Source code in blueye/sdk/camera.py

def set_sharpness(self, sharpness: int):
    """Set the camera sharpness.

    Only available on Ultra.

    Args:
        sharpness (int): Set the sharpness (-20..20), -20 is the default.

    Raises:
        RuntimeError: If the connected drone is running a Blunux version older than 5.0.0.
    """
    self._parent_drone._verify_required_blunux_version("5.0.0")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.sharpness = sharpness
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_stream_resolution

set_stream_resolution(resolution: Resolution)

Set the camera stream resolution.

For drones running blunux version < 4.4.1 this is the same as the set_resolution method.

Parameters:

• resolution (Resolution) –

  Set the camera stream resolution.

Raises:

• ValueError –

  If the resolution is not a valid blueye.protocol.Resolution type

Source code in blueye/sdk/camera.py

def set_stream_resolution(self, resolution: blueye.protocol.Resolution):
    """Set the camera stream resolution.

    For drones running blunux version < 4.4.1 this is the same as the
    [`set_resolution`][blueye.sdk.camera.Camera.set_resolution] method.

    Args:
        resolution (blueye.protocol.Resolution): Set the camera stream resolution.

    Raises:
        ValueError: If the resolution is not a valid `blueye.protocol.Resolution` type
    """
    if not isinstance(resolution, blueye.protocol.Resolution):
        raise ValueError(f"{resolution} is not a valid resolution type")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.stream_resolution = resolution
    # If the drone is running Blunux < 4.4 we need to set the resolution field as well.
    self._camera_parameters.resolution = resolution
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_streaming_protocol

set_streaming_protocol(protocol: StreamingProtocol)

Set the streaming protocol (codec used for the RTSP stream).

Parameters:

• protocol (StreamingProtocol) –

  Set the streaming protocol.

Raises:

• ValueError –

  If the protocol is not a valid blueye.protocol.StreamingProtocol type.

Source code in blueye/sdk/camera.py

def set_streaming_protocol(self, protocol: blueye.protocol.StreamingProtocol):
    """Set the streaming protocol (codec used for the RTSP stream).

    Args:
        protocol (blueye.protocol.StreamingProtocol): Set the streaming protocol.

    Raises:
        ValueError: If the protocol is not a valid `blueye.protocol.StreamingProtocol` type.
    """
    if not isinstance(protocol, blueye.protocol.StreamingProtocol):
        raise ValueError(f"{protocol} is not a valid StreamingProtocol type")
    if self._camera_parameters is None:
        self._update_camera_parameters()
    self._camera_parameters.streaming_protocol = protocol
    self._parent_drone._req_rep_client.set_camera_parameters(self._camera_parameters)

set_whitebalance

set_whitebalance(white_balance: int)

Set the camera white balance.

Parameters:

• white_balance (int) –

  Set the camera white balance. Valid values are in the range (2800..9300) or -1 for auto white balance.

Source code in blueye/sdk/camera.py

def set_whitebalance(self, white_balance: int):
    """Set the camera white balance.

    Args:
        white_balance (int): Set the camera white balance. Valid values are in the range
                             (2800..9300) or -1 for auto white balance.
    """
    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)

take_picture

take_picture()

Take a still picture and store it locally on the drone.

These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.

Source code in blueye/sdk/camera.py

def take_picture(self):
    """Take a still picture and store 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()

GuestPortLight

GuestPortLight(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a light connected to a guest port on the Blueye drone.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Methods:

• get_intensity –

  Get the intensity of the guest port light.

• set_intensity –

  Set the intensity of the guest port light.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the GuestPortLight class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Peripheral.__init__(self, parent_drone, port_number, device)

get_intensity

get_intensity() -> Optional[float]

Get the intensity of the guest port light.

Returns:

• Optional[float] –

  The intensity of the light (0..1).

Source code in blueye/sdk/guestport.py

def get_intensity(self) -> Optional[float]:
    """Get the intensity of the guest port light.

    Returns:
        The intensity of the light (0..1).
    """
    return self.parent_drone.telemetry.get(bp.GuestPortLightsTel).lights.value

set_intensity

set_intensity(intensity: float)

Set the intensity of the guest port light.

Parameters:

• intensity (float) –

  The intensity of the light (0..1).

Source code in blueye/sdk/guestport.py

def set_intensity(self, intensity: float):
    """Set the intensity of the guest port light.

    Args:
        intensity (float): The intensity of the light (0..1).
    """
    self.parent_drone._ctrl_client.set_guest_port_lights(intensity)

Laser

Laser(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a laser connected to a guest port on the Blueye drone.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Methods:

• get_intensity –

  Get the current intensity of the laser.

• set_intensity –

  Set the intensity of the laser.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Laser class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Peripheral.__init__(self, parent_drone, port_number, device)

get_intensity

get_intensity() -> Optional[float]

Get the current intensity of the laser.

Returns:

• Optional[float] –

  The current intensity of the laser.

Source code in blueye/sdk/guestport.py

def get_intensity(self) -> Optional[float]:
    """Get the current intensity of the laser.

    Returns:
        The current intensity of the laser.
    """
    telemetry_msg = self.parent_drone.telemetry.get(bp.LaserTel)
    if telemetry_msg is None:
        return None
    else:
        return telemetry_msg.laser.value

set_intensity

set_intensity(intensity: float)

Set the intensity of the laser.

If the laser does not support dimming but only on and off, a value of 0 turns the laser off, and any value above 0 turns the laser on.

Parameters:

• intensity (float) –

  The intensity of the laser (0..1).

Raises:

• ValueError –

  If the intensity is not between 0 and 1.

Source code in blueye/sdk/guestport.py

def set_intensity(self, intensity: float):
    """Set the intensity of the laser.

    If the laser does not support dimming but only on and off, a value of 0 turns the laser off,
    and any value above 0 turns the laser on.

    Args:
        intensity (float): The intensity of the laser (0..1).

    Raises:
        ValueError: If the intensity is not between 0 and 1.
    """
    if intensity < 0 or intensity > 1:
        raise ValueError("Laser intensity must be between 0 and 1.")
    self.parent_drone._ctrl_client.set_laser_intensity(intensity)

Peripheral

Peripheral(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a peripheral device connected to a guest port on the Blueye drone.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Peripheral class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    self.parent_drone = parent_drone
    self.port_number: bp.GuestPortNumber = port_number
    self.name: str = device.name
    self.manufacturer: str = device.manufacturer
    self.serial_number: str = device.serial_number
    self.depth_rating: float = device.depth_rating
    self.required_blunux_version: str = device.required_blunux_version
    self.device_id: bp.GuestPortDeviceID = device.device_id
    if self.required_blunux_version != "":
        if version.parse(self.required_blunux_version) > version.parse(
            parent_drone.software_version_short
        ):
            logger.warning(
                f"Peripheral {self.name} requires Blunux version "
                f"{self.required_blunux_version}, but the drone is running "
                f"{parent_drone.software_version_short}"
            )

SkidServo

SkidServo(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents the servo on the skid (typically used for multibeams)

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Methods:

• get_angle –

  Get the current angle of the skid servo.

• set_angle –

  Set the angle of the skid servo.

Source code in blueye/sdk/guestport.py

def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the SkidServo class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    self.max_angle = 28
    self.min_angle = -28
    Peripheral.__init__(self, parent_drone, port_number, device)

get_angle

get_angle() -> float | None

Get the current angle of the skid servo.

Returns:

• float | None –

  The current angle of the skid servo in degrees. None if telemetry is not available.

Source code in blueye/sdk/guestport.py

def get_angle(self) -> float | None:
    """Get the current angle of the skid servo.

    Returns:
        The current angle of the skid servo in degrees. None if telemetry is not available.
    """
    telemetry_msg = self.parent_drone.telemetry.get(bp.MultibeamServoTel)
    if telemetry_msg is None:
        return None
    else:
        return telemetry_msg.servo.angle

set_angle

set_angle(angle: float) -> None

Set the angle of the skid servo.

Parameters:

• angle (float) –

  The angle to set for the servo (-28 to 28 degrees).

Raises:

• ValueError –

  If the angle is not within the allowed range.

Source code in blueye/sdk/guestport.py

def set_angle(self, angle: float) -> None:
    """Set the angle of the skid servo.

    Args:
        angle (float): The angle to set for the servo (-28 to 28 degrees).

    Raises:
        ValueError: If the angle is not within the allowed range.
    """
    if angle < self.min_angle or angle > self.max_angle:
        raise ValueError(
            f"Angle must be between {self.min_angle} and {self.max_angle} degrees."
        )
    self.parent_drone._ctrl_client.set_multibeam_servo_angle(angle)

device_to_peripheral

device_to_peripheral(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
) -> Peripheral

Convert a device to its corresponding peripheral class.

Parameters:

• parent_drone (Drone) –

  The parent drone instance.

• port_number (GuestPortNumber) –

  The guest port number.

• device (GuestPortDevice) –

  The guest port device.

Returns:

• Peripheral –

  The corresponding peripheral class instance.

Source code in blueye/sdk/guestport.py

def device_to_peripheral(
    parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
) -> Peripheral:
    """Convert a device to its corresponding peripheral class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.

    Returns:
        The corresponding peripheral class instance.
    """
    logger.debug(f"Found a {device.name} at port {port_number}")
    if device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_CAM:
        peripheral = GuestPortCamera(parent_drone, port_number, device)
    elif (
        device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT_PAIR
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_LUMEN
    ):
        peripheral = GuestPortLight(parent_drone, port_number, device)
    elif (
        device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_NEWTON
        or device.device_id
        == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_DETACHABLE_NEWTON
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEPRINT_LAB_REACH_ALPHA
    ):
        peripheral = Gripper(parent_drone, port_number, device)
    elif (
        device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_LASER_TOOLS_SEA_BEAM
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_SPOT_X_LASER_SCALERS
    ):
        peripheral = Laser(parent_drone, port_number, device)
    elif device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_GENERIC_SERVO:
        peripheral = GenericServo(parent_drone, port_number, device)
    elif device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO:
        peripheral = SkidServo(parent_drone, port_number, device)
    else:
        peripheral = Peripheral(parent_drone, port_number, device)
    return peripheral